Cooperative Standoff Tracking of Moving Targets Using Modified Lyapunov Vector Field Guidance

Decentralised Standoff Tracking of Moving Targets Using Adaptive Sliding Mode Control for UAVs

This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances. Decentralised angular separation control ...

Rendezvous and Standoff Target Tracking Guidance Using Differential Geometry

This paper proposes UAV rendezvous and standoff tracking guidance laws against a moving target using differential geometry. Searching and subsequent tracking of moving ground based target is one of the primary capabilities of cooperative UAVs. In performing such missions, UAVs are to approach a target and keep a certain distance, known as a standoff distance. This allows target tracking without...

Optimal Observer Path Planning For Bearings-Only Moving Targets Tracking Using Chebyshev Polynomials

In this paper, an optimization problem for the observer trajectory in the bearings-only surface moving target tracking (BOT) is studied. The BOT depends directly on the observability of the target's position in the target/observer geometry or the optimal observer maneuver. Therefore, the maximum lower band of the Fisher information matrix is opted as an independent criterion of the target estim...

Nonlinear Model Predictive Coordinated Standoff Tracking of Moving Ground Vehicle∗

construction of vector fields with positive lyapunov exponents

in this thesis our aim is to construct vector field in r3 for which the corresponding one-dimensional maps have certain discontinuities. two kinds of vector fields are considered, the first the lorenz vector field, and the second originally introced here. the latter have chaotic behavior and motivate a class of one-parameter families of maps which have positive lyapunov exponents for an open in...