南京理工大学学报（自然科学版）2025，Vol.49Issue(5)：591-599,9.DOI:10.14177/j.cnki.32-1397n.2025.49.05.008
离散时间方位测量下多智能体协同对峙跟踪机动目标
Cooperative standoff tracking of maneuvering target by multiple agents with discrete-time bearing-only measurements
摘要
Abstract
Aiming at the problem of cooperative standoff tracking of a non-cooperative target by a multi-agent system,a systematic framework that integrates estimator and controller based on discrete-time bearing-only measurements is proposed.Compared to existing coupled architectures of continuous-time observers and controllers,the proposed method eliminates the need for discretizing continuous-time systems in practical implementations,thereby avoiding the potential risk of system instability arising from this process.First,to address target state estimation under noisy bearing measurements,an unbiased pseudo-linear Kalman filter(UBPLKF)is introduced,achieving unbiased estimation of target states and overcoming the defect of noise sensitivity inherent in continuous-time observers.Subsequently,leveraging the estimates and control objectives,a distributed discrete-time controller is designed through kinematic decoupling.This design simplifies controller implementation and enhances its engineering applicability.The controller enables multiple-agents to track and circumnavigate the target while maintaining the prescribed standoff distance,angular velocity,and angular space distribution.Furthermore,based on Lyapunov stability theory,constraints between the sampling period,the Laplacian matrix of the communication topology,and the control gains are derived to ensure system stability.These constraints theoretically delimit the feasible range of controller parameters.关键词
多智能体/对峙跟踪/离散时间/纯方位量测/协同控制Key words
multi-agent/standoff tracking/discrete-time/bearing-only measurements/cooperative control分类
计算机与自动化引用本文复制引用
马周健,马银萍,李银伢..离散时间方位测量下多智能体协同对峙跟踪机动目标[J].南京理工大学学报（自然科学版）,2025,49(5):591-599,9.基金项目
国家自然科学基金(62171223) （62171223）
