This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its novelty lies in two aspects: 1) the elliptic coordinates are used to represent an arbitrary tracking formation without singularity, which can be deduced from inter-agent distances, and 2) the regulation of the tracking vehicle system obeys a binocular coordination principle, which simplifies the design of the control law by leveraging rich physical meanings of elliptic coordinates. The tracking system with the proposed controller is proven to be exponentially convergent when the target is stationary. When the target drifts with a small velocity, the desired tracking formation is achieved within a small margin proportional to the magnitude of the target's drift velocity. Simulation examples are provided to demonstrate the tracking performance of the proposed controller.

中文翻译：

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椭圆坐标中的协同目标跟踪：一种双目协调方法

本文重点研究具有编队约束的一对跟踪车辆的协同目标跟踪控制。所提出的控制器只需要跟踪车辆和目标之间的距离测量。其新颖之处在于两个方面：1) 用椭圆坐标表示任意无奇点的跟踪编队，可以从代理间距离推导出；2) 跟踪车辆系统的调节遵循双目协调原理，即通过利用椭圆坐标的丰富物理意义，简化了控制律的设计。当目标静止时，带有所提出控制器的跟踪系统被证明是指数收敛的。当目标以小速度漂移时，在与目标漂移速度大小成正比的小范围内实现所需的跟踪编队。提供了仿真示例来证明所提出的控制器的跟踪性能。