论文标题
通过PD状控制器协调移动目标的无绕线范围
Coordinate-free Circumnavigation of a Moving Target via a PD-like Controller
论文作者
论文摘要
本文提出了一个非坐标控制器，用于非独立工具，通过使用仅范围的测量值来绕过完全驱动的移动目标。如果可用范围速率，我们的比例衍生物（PD）样控制器作为标准PD控制器具有简单的结构，只是在错误反馈中设计了加性常数偏差和饱和函数。我们表明，如果目标是静止的，则车辆渐近地将目标用预定义的半径以指数的收敛速率封闭，即可以完成精确的循环模式。对于移动目标，绕道误差会收敛到一个小区域，该区域的大小与目标的可操作性成正比，例如最大线性速度和加速度。此外，我们设计了二阶滑动模式（SOSM）过滤器以估计范围速率，并表明SOSM过滤器可以在有限的时间内恢复范围速率。最后，通过数值模拟和实际实验，我们的控制器的有效性和优势得到了验证。
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.
