Work

Moving-target-enclosing control of nonholonomic MASs with bearing-only measurements and collision avoidance

Year: 2026

Type: article

Abstract: This paper focuses on a moving-target-enclosing control problem for nonholonomic multi-agent systems with bearing-only measurements and collision avoidance. Due to the lack of distance measurements, a bearing-only observer is designed first to estimate the complete relative position between each agent and the target. Simultaneously, an auxiliary signal generator is designed for an auxiliary multi-agent system to produce several reference circular trajectories for its agents, while guaranteeing collision avoidance. Based on the bearing-only observer and the auxiliary signal generator, a dynamic controller is proposed by feedback linearization approach. Sufficient conditions for asymptotic stability and the guaranteed collision avoidance are given. Two simulation examples validate the effectiveness of proposed scheme.

Source: Systems & Control Letters

DOI: 10.1016/j.sysconle.2026.106619

Authors: Shuang Ju, Siming Wang, Jing Wang, Liya Dou

Institutions: Shijiazhuang Tiedao University, North China University of Technology, Beijing University of Chemical Technology

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,910

OpenAlex ID: W7222394093

FWCI:

Cites: 33

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