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Time-varying formation tracking control for multi-agent systems using distributed multi-sensor multi-target filtering
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DOI：10.1016/j.jfranklin.2024.01.015.png)
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摘要
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Time -varying formation tracking control issues for multi -agent systems are investigated based on the distributed multi -sensor multi -target filtering algorithm. In order to estimate the states of targets, a distributed multi -sensor multi -target filtering algorithm based on cubature Kalman filtering is investigated. Subsequently, the state estimations calculated by the filtering algorithm are used to design a time -varying formation tracking protocol for multi -agent systems, enabling the agents to form a time -varying formation and track the convex combination of uncooperative targets. The estimation errors of the filtering algorithm are proved to be bounded in mean square by introducing a stochastic process and the boundedness of the formation tracking errors is further proved. Simulation results illustrates the effectiveness of the proposed algorithm and protocol.
Keyword:
Time-varying formation
Formation tracking
Distributed multi-sensor multi-target filtering
Cubature Kalman filter
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3.7
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被引数:
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