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The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced\u2010order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced\u2010order extended state observer, an antidisturbance guidance law for target tracking is designed. The input\u2010to\u2010state stability of the closed\u2010loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision\u2010free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.<\/jats:p>","DOI":"10.1155\/2018\/4154670","type":"journal-article","created":{"date-parts":[[2018,12,13]],"date-time":"2018-12-13T23:31:23Z","timestamp":1544743883000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Extended\u2010State\u2010Observer\u2010Based Collision\u2010Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target 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