UIF-based cooperative tracking method for multi-agent systems with sensor faults

查看全文 作　　者：Yingrong [1]YU;Siting [1]PENG;Xiwang [1]DONG;Qingdong [1]LI;Zhang [1]REN

机构地区：[1]Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering,Beihang University

出　　处：《Science China(Information Sciences)》索引2019年第62卷第1期,共14页

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61873011, 61803014, 61503009, 61333011);Beijing Natural Science Foundation (Grant No. 4182035);Young Elite Scientists Sponsorship Program by CAST (Grant No. 2017QNRC001);Aeronautical Science Foundation of China (Grant Nos. 2016ZA51005, 20170151001);Special Research Project of Chinese Civil Aircraft, State Key Laboratory of Intelligent Control and Decision of Complex Systems;Fundamental Research Funds for the Central Universities (Grant No. YWF-18-BJ-Y-73) 摘　　要：For maneuvering target tracking with sensor faults, consensus-based distributed state estimation problems are studied herein. The communication status of the nonlinear system composed of multiple agents is described using the graph theory. Considering the impacts caused by sensor failures on measurement equations, a weighted average consensus-based unscented information filter(UIF) algorithm is proposed to improve tracking accuracy. Moreover, the estimation error for the investigated nonlinear system has been analyzed based on the stochastic boundedness theory to evaluate the proposed algorithm's performance and feasibility. Finally, simulation results are presented to assert the validity of the method. 关键词：unscented information filter CONSENSUS theory COOPERATIVE tracking MULTI-AGENT system STOCHASTIC BOUNDEDNESS

相关文献

参考文献（27）
引证文献（5）
耦合文献（33）

参考文献(27)

引证文献(5)

耦合文献(33)

互联网出版许可证新出网证(渝)字10号全国400电话 - 免长途话费

UIF-based cooperative tracking method for multi-agent systems with sensor faults

参考文献(27)

引证文献(5)

耦合文献(33)

用户提示