Target Localization and Circumnavigation with Integral Action in R2
(2022) In IEEE Control Systems Letters 6. p.1250-1255- Abstract
Prior results on target localization and circumnavigation with bearing measurements in $\mathbb {R}^{2}$ are extended with integral action, resulting in a control system that is robust to bounded load disturbances on the control inputs. Such disturbances may arise in practice due to modeling errors and need to be considered to ensure small tracking errors. The control inputs are modeled as the system velocities in the bearing and orthogonal bearing directions, facilitating an implementation on both aerial and ground vehicles. This is demonstrated in a simulation example, followed by an experimental application with ground-based vehicle circumnavigation, highlighting the performance and importance of using the proposed controllers.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/c4a6bbdd-baf3-4b33-b74a-7137730c0954
- author
- Greiff, Marcus LU ; Deghat, Mohammad ; Sun, Zhiyong LU and Robertsson, Anders LU
- organization
- publishing date
- 2022
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Aircraft navigation, Autonomous vehicles, Lyapunov methods, Nonlinear control systems
- in
- IEEE Control Systems Letters
- volume
- 6
- article number
- 9462350
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:85112726443
- ISSN
- 2475-1456
- DOI
- 10.1109/LCSYS.2021.3091633
- language
- English
- LU publication?
- yes
- id
- c4a6bbdd-baf3-4b33-b74a-7137730c0954
- date added to LUP
- 2021-09-03 11:25:16
- date last changed
- 2023-05-11 08:01:37
@article{c4a6bbdd-baf3-4b33-b74a-7137730c0954, abstract = {{<p>Prior results on target localization and circumnavigation with bearing measurements in $\mathbb {R}^{2}$ are extended with integral action, resulting in a control system that is robust to bounded load disturbances on the control inputs. Such disturbances may arise in practice due to modeling errors and need to be considered to ensure small tracking errors. The control inputs are modeled as the system velocities in the bearing and orthogonal bearing directions, facilitating an implementation on both aerial and ground vehicles. This is demonstrated in a simulation example, followed by an experimental application with ground-based vehicle circumnavigation, highlighting the performance and importance of using the proposed controllers. </p>}}, author = {{Greiff, Marcus and Deghat, Mohammad and Sun, Zhiyong and Robertsson, Anders}}, issn = {{2475-1456}}, keywords = {{Aircraft navigation; Autonomous vehicles; Lyapunov methods; Nonlinear control systems}}, language = {{eng}}, pages = {{1250--1255}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, series = {{IEEE Control Systems Letters}}, title = {{Target Localization and Circumnavigation with Integral Action in R<sup>2</sup>}}, url = {{http://dx.doi.org/10.1109/LCSYS.2021.3091633}}, doi = {{10.1109/LCSYS.2021.3091633}}, volume = {{6}}, year = {{2022}}, }