Distributed estimation and control for two-target tracking mobile sensor networks

In this paper, we investigate a new estimation and control strategy for two-target tracking mobile sensor networks. Different from the single-target tracking problem, the two-target tracking one has to consider the interaction between followers in different groups. Based on a new flocking control algorithm and distributed filter, all mobile sensors can split into two groups to track their own target and form a cohesive flock with their neighbors. Stability analysis is conducted based on cascading Lyapunov method and matrix theory. Furthermore, a sufficient condition for the convergence is given in the form of the boundary conditions of feedback gains. Finally, a numerical example is presented to illustrate the validity of the proposed theoretical results.