Finite-time target localization and multicircular circumnavigation with bearing-only measurements

Abstract

This paper studies the finite-time localization and multicircular circumnavigation problem of an unknown stationary target via a networked multi-agent system using bearing-only measurements. To enhance the convergence rate of estimation, a novel estimator is developed to enable the agent to localize the target in finite time. At the same time, with the estimated target position, a distributed controller is designed such that the agents circumnavigate the target along different orbits with any prescribed angular spacing in finite time. In terms of Lyapunov theory and cascade control strategy, finite-time stability of the overall system including the estimator and controller are analyzed rigorously. Besides, the proposed algorithms guarantee that the agents can keep a safe distance from the target in the whole movement process, and high angular velocity can be avoided even if the circumnavigation radius becomes small. Finally, to corroborate the theoretical results, two simulation examples are given.