Moving-Target Circumnavigation Using Adaptive Neural Anti-Synchronization Control via Distance-Only Measurements
研究了GPS缺失环境下两个智能体协同对称环绕未知移动目标的问题，提出自适应神经反同步控制器，仅靠距离测量实时估计目标位置并实现稳定环绕。
In this work, we investigate the unknown moving-target circumnavigation problem in GPS-denied environments. A minimum of two tasking agents is excepted to circumnavigate the target cooperatively and symmetrically without prior knowledge of its position and velocity in order to achieve optimal sensor coverage persistently for the target. To achieve this goal, we develop a novel adaptive neural anti-synchronization (AS) controller. Based on relative distance-only measurements between the target and two tasking agents, a neural network is used to approximate the displacement of the target such that the position of the target can be estimated accurately and in real time. On this basis, a target position estimator is designed by considering whether all agents are in the same coordinate system. Furthermore, an exponential forgetting factor and a new information utilization factor are introduced to improve the accuracy of the aforementioned estimator. Rigorous convergence analysis of position estimation errors and AS error shows that the closed-loop system is globally exponentially bounded by the designed estimator and controller. Both numerical and simulation experiments are conducted to demonstrate the correctness and effectiveness of the proposed method.