Finite-time cooperative tracking for high-maneuvering aerial target with sensor network

The finite-time distributed state estimation (DSE) problems based on sensor network for discrete-time nonlinear systems are considered in this paper. Considering the uncertainty of the target maneuvers, the interactive multiple models (IMM) based distributed estimation framework is established by local filter and consensus fusion. In the proposed distributed algorithm, partial of the output of the system can be collected by some sensors and the sensor network is supposed to be collectively observable. According to the consensus protocol, the final estimates are obtained by fusing local estimate results of each sensor during the consensus fusion stage. The distributed estimate results can be obtained with finite-time when the consensus fusion step is larger than the diameter of the network, and the convergence rate of estimate error of the proposed distributed estimate algorithm is guaranteed. Besides, the existence of the lower and upper bounds of the error covariance matrix are proved with some necessary assumptions. Finally, numerical simulation example is given for tracking the target with different maneuvers.