Target Localization and Circumnavigation With Integral Action in R²

Prior results on target localization and circumnavigation with bearing measurements in \mathbb R 2 are extended integral action, resulting a control system that is robust to bounded load disturbances the inputs. Such may arise practice due modeling errors need be considered ensure small tracking errors. The inputs modeled as velocities orthogonal directions, facilitating an implementation both aerial ground vehicles. This demonstrated simulation example, followed by experimental application ground-based vehicle circumnavigation, highlighting performance importance of using proposed controllers.