Cooperative tracking in camera sensor networks with sliding mode control. (17th January 2023)

• Record Type: Journal Article
• Authors: Kameoka, Yoshihiro; Hayashi, Naoki; Takai, Shigemasa
• Is Part Of: Advanced robotics. Volume 37:Number 1/2(2023)
• Page Start: 130
• Page End: 140
• Publication Date: 2023-01-17
• Subjects: Multi-agent system -- cooperative control -- sliding mode control -- camera sensor network; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2022.2119885
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : This paper presents robust cooperative tracking control in camera sensor networks. We consider a camera sensor network with a Pan-Tilt (PT) mechanism whose dynamics is expressed as the Euler–Lagrange equation. We propose a distributed control law based on sliding mode control to achieve cooperative target tracking. The stability of the closed-loop system is conducted by Lyapunov's stability theory considering discontinuities of the control input. We also verify the effectiveness of the proposed method with a numerical example of synchronization of a PT camera sensor network under external disturbance. GRAPHICAL ABSTRACT: UF0001