Coordinate-Free Circumnavigation of a Moving Target Via a PD-Like Controller

This article proposes a coordinate-free controller for nonholonomic vehicle to circumnavigate fully- actuated moving target by using range-only measurements. If the range rate is available, our proportional derivative (PD) like has simple structure as standard PD controller, except design of an additive constant bias and saturation function in error feedback. We show that if stationary, asymptotically encloses with predefined radius at exponential convergence rate, i.e., exact circumnavigation pattern can be completed. For target, converges small region whose size shown maneuverability e.g., maximum linear speed acceleration. Moreover, we second-order sliding mode (SOSM) filter estimate SOSM recover finite time. Finally, effectiveness advantages are validated via both numerical simulations real experiments.