Bearing‐Only Based Enclosing Control of Nonholonomic MASs With a Moving Target of Unknown Velocity

ABSTRACT A target enclosing control of nonholonomic multi‐agent systems is investigated by bearing‐only measurements without knowing the target velocity. Due to the lack of distance and target velocity information, an adaptive bearing‐only observer is designed. By the adaptive bearing‐only observer, both the target velocity and the complete relative positions from the target to each agent are estimated to compensate for the unavailable information. Then, a dynamic distributed controller is further developed using the estimates, and sufficient conditions are obtained for the asymptotic stability of the closed‐loop system. Finally, simulation results verify the effectiveness of the presented control strategy.