Finite-time distributed localization and multi-orbit circumnavigation with bearing-only measurements |
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| Institution: | 1. LAJ Laboratory, University of Jijel, Algeria;2. Université Paris-Saclay, Univ Evry, IBISC, Evry 91020, France;1. Department of State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110819, China;2. School of Electronic Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing, 101408, China;3. Qiqihar Heavy CNC Equipment Corp., Ltd., Qiqihar, 161000, China;1. School of Science, Nanchang Institute of Technology, Nanchang, Jiangxi 330099, China;2. Department of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;1. School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;2. School of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong 510006, China |
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| Abstract: | This paper investigates the localization and circumnavigation problem of a stationary target by multiple agents with multi-orbit within finite time. The agents can only obtain their own positions and the bearing information of the target. They are required to travel along their prescribed trajectories in three-dimensional (3-D) space and circumnavigate the target. First, a novel finite-time distributed positional estimator, using bearing-only measurements, is developed for agents to localize the target. Afterward, with the estimate of the target position, a distributed control law is designed to steer the agents to circumnavigate the target on different orbits with any preconcerted angular spacing distribution pattern within finite time. Simultaneously, the corresponding stability and convergence analyses are presented. Finally, simulation results are provided to demonstrate the effectiveness of the theoretical results. |
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