Target encirclement with any smooth pattern using range-based measurements

Fei Dong; Keyou You; Shiji Song

doi:10.1016/j.automatica.2020.108932

Target encirclement with any smooth pattern using range-based measurements

Fei Dong
, Keyou You^*
, Shiji Song

^*此作品的通讯作者

Tsinghua University

科研成果: 期刊稿件 › 文章 › 同行评审

70 引用（Scopus）

摘要

This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position only using range-based measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential stability under a fixed set of parameters for the controller. The effectiveness and advantages of the proposed controller are validated via simulations.

源语言	英语
文章编号	108932
期刊	Automatica
卷	116
DOI	https://doi.org/10.1016/j.automatica.2020.108932
出版状态	已出版 - 6月 2020
已对外发布	是

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title = "Target encirclement with any smooth pattern using range-based measurements",

abstract = "This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position only using range-based measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential stability under a fixed set of parameters for the controller. The effectiveness and advantages of the proposed controller are validated via simulations.",

keywords = "Backstepping control, Circumnavigation, Range-based measurements, Target encirclement",

author = "Fei Dong and Keyou You and Shiji Song",

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AU - You, Keyou

AU - Song, Shiji

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N2 - This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position only using range-based measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential stability under a fixed set of parameters for the controller. The effectiveness and advantages of the proposed controller are validated via simulations.

AB - This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position only using range-based measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential stability under a fixed set of parameters for the controller. The effectiveness and advantages of the proposed controller are validated via simulations.

KW - Backstepping control

KW - Circumnavigation

KW - Range-based measurements

KW - Target encirclement

UR - https://www.scopus.com/pages/publications/85081398721

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DO - 10.1016/j.automatica.2020.108932

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SN - 0005-1098

VL - 116

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Target encirclement with any smooth pattern using range-based measurements

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