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arXiv · 2002.06507

Coordinate-free Circumnavigation of a Moving Target via a PD-like Controller

Fei Dong·Keyou You·Lihua Xie·Qinglei Hu
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Abstract

This paper proposes a coordinate-free controller for a nonholonomic vehicle to circumnavigate a fully-actuated moving target by using range-only measurements. If the range rate is available, our Proportional Derivative (PD)-like controller has a simple structure as the standard PD controller, except the design of an additive constant bias and a saturation function in the error feedback. We show that if the target is stationary, the vehicle asymptotically encloses the target with a predefined radius at an exponential convergence rate, i.e., an exact circumnavigation pattern can be completed. For a moving target, the circumnavigation error converges to a small region whose size is shown proportional to the maneuverability of the target, e.g., the maximum linear speed and acceleration. Moreover, we design a second-order sliding mode (SOSM) filter to estimate the range rate and show that the SOSM filter can recover the range rate in a finite time. Finally, the effectiveness and advantages of our controller are validated via both numerical simulations and real experiments.

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Fei Dong, Keyou You, Lihua Xie, Qinglei Hu. 2020-02-16. Coordinate-free Circumnavigation of a Moving Target via a PD-like Controller. https://doi.org/10.1109/taes.2021.3127858

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