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

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.