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Multiple noncooperative targets encirclement by relative distance-based positioning and neural antisynchronization control

Fen Liu, Shenghai Yuan, Wei Meng, Rong Su, Lihua Xie

TL;DR

This work designs a new distributed antisynchronization controller so that the two tasking agents are able to encircle all targets while staying opposite to each other, and dynamically determined the radius of the desired encirclement trajectory.

Abstract

From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains challenging. In this work, multiple targets encirclement by using a minimum of two tasking agents, is considered where the relative distance measurements between the agents and the targets can be obtained by using onboard sensors. Based on the measurements, the center of all the targets is estimated directly by a fuzzy wavelet neural network (FWNN) and the least squares fit method. Then, a new distributed anti-synchronization controller (DASC) is designed so that the two tasking agents are able to encircle all targets while staying opposite to each other. In particular, the radius of the desired encirclement trajectory can be dynamically determined to avoid potential collisions between the two agents and all targets. Based on the Lyapunov stability analysis method, the convergence proofs of the neural network prediction error, the target-center position estimation error, and the controller error are addressed respectively. Finally, both numerical simulations and UAV flight experiments are conducted to demonstrate the validity of the encirclement algorithms. The flight tests recorded video and other simulation results can be found in https://youtu.be/B8uTorBNrl4.

Multiple noncooperative targets encirclement by relative distance-based positioning and neural antisynchronization control

TL;DR

This work designs a new distributed antisynchronization controller so that the two tasking agents are able to encircle all targets while staying opposite to each other, and dynamically determined the radius of the desired encirclement trajectory.

Abstract

From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains challenging. In this work, multiple targets encirclement by using a minimum of two tasking agents, is considered where the relative distance measurements between the agents and the targets can be obtained by using onboard sensors. Based on the measurements, the center of all the targets is estimated directly by a fuzzy wavelet neural network (FWNN) and the least squares fit method. Then, a new distributed anti-synchronization controller (DASC) is designed so that the two tasking agents are able to encircle all targets while staying opposite to each other. In particular, the radius of the desired encirclement trajectory can be dynamically determined to avoid potential collisions between the two agents and all targets. Based on the Lyapunov stability analysis method, the convergence proofs of the neural network prediction error, the target-center position estimation error, and the controller error are addressed respectively. Finally, both numerical simulations and UAV flight experiments are conducted to demonstrate the validity of the encirclement algorithms. The flight tests recorded video and other simulation results can be found in https://youtu.be/B8uTorBNrl4.

Paper Structure

This paper contains 10 sections, 4 theorems, 52 equations, 13 figures.

Table of Contents

  1. Introduction
  2. Problem formulation
  3. System models
  4. Objective
  5. Estimate-control law
  6. Estimator design
  7. Controller design
  8. Convergence analysis
  9. Numerical simulation and flight experiment
  10. conclusion

Key Result

Lemma 1

The sequence $\{\boldsymbol p_{12}(k)\}, k\in[\kappa,\kappa+N-1], \forall \kappa\in Z, \exists N \in Z^{+}$ is persistently exciting if the following inequality holds for $||\boldsymbol u_{12}(k)||\leq\bar{\mu}$, where $N$ is the motion period that occurs when the two tasking agents are moving around all targets, and

Figures (13)

  • Figure 1: Multiple unknown and non-cooperative targets encircling by using only two tasking agents.
  • Figure 2: Targets encirclement control and feedback loop.
  • Figure 3: The structure of FWNN.
  • Figure 4: 3D positions are orthogonally projected on the 2D ground plane.
  • Figure 5: The AS error in the whole simulation process.
  • ...and 8 more figures

Theorems & Definitions (10)

  • Definition 1
  • Definition 2
  • Definition 3
  • Remark 1
  • Remark 2
  • Remark 3
  • Lemma 1
  • Theorem 1
  • Theorem 2
  • Theorem 3