IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v56y2025i7p1590-1605.html
   My bibliography  Save this article

Target tracking control of multiple unmanned surface vehicles based on distributed extended state observer

Author

Listed:
  • Jianguo Bai
  • Yakun Zhu
  • Ge Guo

Abstract

In this paper, the target tracking control problem of multiple unmanned surface vehicles (multi-USVs) based on relative states information and data fusion is studied with underactuation and disturbances. Firstly, the concepts of relative position and relative velocity are proposed in view of the fact that the target USV does not actively transmit states information and some sensors can only measure distance. Then, a novel distributed extended state observer is designed to enable each tracking USV to estimate the position and velocity of the target USV. Secondly, a novel data fusion algorithm is proposed to obtain the accurate estimation of the position and velocity of the target USV. Then, the distributed position and velocity tracking errors are proposed, based on which, an integral backstepping sliding mode distributed controller is designed. An exponential reaching law is introduced to improve the dynamic response of the tracking USVs. Finally, the mathematical proof that the proposed controller can realise target tracking is given. Simulation results show the effectiveness of the controller, distributed extended state observer and data fusion algorithm.

Suggested Citation

  • Jianguo Bai & Yakun Zhu & Ge Guo, 2025. "Target tracking control of multiple unmanned surface vehicles based on distributed extended state observer," International Journal of Systems Science, Taylor & Francis Journals, vol. 56(7), pages 1590-1605, May.
    • Handle: RePEc:taf:tsysxx:v:56:y:2025:i:7:p:1590-1605
    DOI: 10.1080/00207721.2024.2428847
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2024.2428847
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2024.2428847?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:56:y:2025:i:7:p:1590-1605. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.