Model-independent multi-target tracking of networked marine surface vehicles with predefined-time convergence performance

Xionghua Liu; Yang Zhang; Kai-Lun Huang; Jing-Zhe Xu; Chang-Duo Liang; Xionghua Liu; Yang Zhang; Kai-Lun Huang; Jing-Zhe Xu; Chang-Duo Liang

doi:10.3934/math.20251280

AIMS Mathematics

2025, Volume 10, Issue 12: 29107-29131. doi: 10.3934/math.20251280

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Research article Topical Sections

Model-independent multi-target tracking of networked marine surface vehicles with predefined-time convergence performance

1.
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China
2.
School of Computer Science and Automation, Wuhan Technology and Business University, Wuhan 430065, China
3.
School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China

Received: 04 November 2025 Revised: 28 November 2025 Accepted: 03 December 2025 Published: 11 December 2025
MSC : 34D20, 93B52, 93C10, 93C85

This paper mainly focuses on the model-independent multi-target tracking problem of the networked marine surface vehicles (NMSVs) while requiring that the settling time is limited to a predefined one. For addressing such a complex problem, a hierarchical control framework is employed, consisting of a predefined-time distributed estimator (PDE) algorithm and a model-independent predefined-time local tracking (MPLT) algorithm. To be specific, the PDE algorithm aims to estimate the virtual leaders states in a distributed fashion within a predefined time, so that each vehicle obtains its corresponding leaders' information. Based on these estimations, the MPLT algorithm is designed to achieve predefined-time multi-target tracking of the NMSVs. By conducting a rigorous Lyapunov stability analysis, the sufficient conditions guaranteeing the predefined-time stability of the closed-loop system are derived. Subsequently, simulation studies are presented to demonstrate the feasibility and superiority of the proposed approach.
- distributed model-independent control,
- multi-target tracking,
- networked marine surface vehicles,
- predefined-time stability
Citation: Xionghua Liu, Yang Zhang, Kai-Lun Huang, Jing-Zhe Xu, Chang-Duo Liang. Model-independent multi-target tracking of networked marine surface vehicles with predefined-time convergence performance[J]. AIMS Mathematics, 2025, 10(12): 29107-29131. doi: 10.3934/math.20251280

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Abstract

This paper mainly focuses on the model-independent multi-target tracking problem of the networked marine surface vehicles (NMSVs) while requiring that the settling time is limited to a predefined one. For addressing such a complex problem, a hierarchical control framework is employed, consisting of a predefined-time distributed estimator (PDE) algorithm and a model-independent predefined-time local tracking (MPLT) algorithm. To be specific, the PDE algorithm aims to estimate the virtual leaders states in a distributed fashion within a predefined time, so that each vehicle obtains its corresponding leaders' information. Based on these estimations, the MPLT algorithm is designed to achieve predefined-time multi-target tracking of the NMSVs. By conducting a rigorous Lyapunov stability analysis, the sufficient conditions guaranteeing the predefined-time stability of the closed-loop system are derived. Subsequently, simulation studies are presented to demonstrate the feasibility and superiority of the proposed approach.

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