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Target Localization and Circumnavigation with Integral Action in R2

Greiff, Marcus LU ; Deghat, Mohammad ; Sun, Zhiyong LU and Robertsson, Anders LU (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:
author
; ; and
organization
publishing date
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}},
}