Moving-Target-Enclosing Control for Multiple Nonholonomic Mobile Agents with Bearing Measurements

In the note, a target enclosing control problem of a moving target for multiple nonholonomic mobile agents is investigated by bearing measurements. A virtual auxiliary system is first introduced to assist in generating a desired reference trajectory of each agent. Simultaneously, by using the bearing measurements, an observer is designed to localize the target. Then, based on the virtual auxiliary system and the observer, a dynamic control law is proposed to let the agents globally asymptotically converge to a circular orbit centered at the moving target and maintain a desired distribution on the orbit. Finally, simulation results verify the effectiveness of the proposed approach.