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Numerous studies have been conducted on rehabilitation robots; however, some critical issues in the field of human-following remain unaddressed. These include potential challenges related to the loss of sensory signals for intention recognition and the complexities associated with maintaining the relative pose of robots during the following process. A human-following surveillance robot is introduced as the basis of the research. To address potential interruptions in motion signals, such as data transmission blockages or body occlusion, we propose a human walking intention estimation algorithm based on set-membership filtering with incomplete observation. To ensure uninterrupted user walking and maintain an effective aid and detection range, we propose a human-following control algorithm based on prescribed performance. The experiment verifies the effectiveness of the proposed methods. The proposed intention estimation algorithm achieves continuous and accurate intention recognition under incomplete observation. The control algorithm presented in this paper achieves constrained robot following with respect to the relative pose.<\/jats:p>","DOI":"10.34133\/cbsystems.0085","type":"journal-article","created":{"date-parts":[[2023,12,20]],"date-time":"2023-12-20T10:50:01Z","timestamp":1703069401000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":13,"title":["Prescribed Performance Control of a Human-Following Surveillance Robot with Incomplete Observation"],"prefix":"10.34133","volume":"5","author":[{"given":"Meiping","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zixin","family":"Chi","sequence":"additional","affiliation":[{"name":"Department of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhaohui","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Rehabilitation Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Samer","family":"Mohammed","sequence":"additional","affiliation":[{"name":"Laboratory of Image, Signal and Intelligent Systems, Univ Paris Est Creteil, LISSI, F-94400 Vitry, France."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","published-online":{"date-parts":[[2024,1,25]]},"reference":[{"issue":"01","key":"e_1_3_3_2_2","first-page":"19","article-title":"Exercises training program: It\u2019s effect on muscle strength and activity of daily living among elderly people","volume":"1","author":"Sugaono H","year":"2020","unstructured":"Sugaono H, Tecchio J. 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