论文标题
多个移动目标的有限时间封闭控制：连续估计器方法
Finite-time enclosing control for multiple moving targets: a continuous estimator approach
论文作者
论文摘要
这项工作解决了有限的封闭控制问题，其中部署了一组关注者以包围并围绕多个移动目标旋转，并在有限的时间内使用预定义的间距模式进行旋转。首先提出了一种新颖的分布式和连续的估计器，以在有限时间内仅使用每个追随者的局部信息来跟踪目标的几何中心。然后，分别针对相对距离和包括角度的一对分散的控制定律旨在根据所提出的估计器的输出在有限的时间内实现所需的间距模式。通过理论分析和仿真验证，我们表明所提出的估计器是连续的，因此可以避免抖动的控制输出，同时仍继承有限的时间收敛的优点。估算器和封闭控制器的稳定误差可确保收敛到零附近的一些有限和可调区域。
This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous estimator is firstly proposed to track the geometric center of targets in finite time using only local information for every follower. Then a pair of decentralized control laws for both the relative distance and included angle, respectively, are designed to achieve the desired spacing pattern in finite time based on the output of the proposed estimator. Through both theoretical analysis and simulation validation, we show that the proposed estimator is continuous and therefore can avoid dithering control output while still inheriting the merit of finite-time convergence. The steady errors of the estimator and the enclosing controller are guaranteed to converge to some bounded and adjustable regions around zero.
