Moving‐Target Localization and Circumnavigation Control for Second‐Order Multiagent Systems With Bearing‐Only Measurements

This article investigates distributed enclosing control problem for a group of agents of second‐order dynamics with a moving target of time‐varying velocity based on bearing measurements. In particular, only one leader agent has access to the bearing information relative to the target. Based on the relative bearing measurements, an adaptive estimator is designed for each agent to locate the target position and estimate the target velocity, respectively. Then, using the estimates of the target information, a distributed control law is developed by introducing an internal variable, which can drive the agent group to move around the mobile target along a common circle of desired radius and achieve a desired arbitrary interval pattern. Finally, the effectiveness of the proposed control scheme is verified with a simulation example.