Bearing-only Circumnavigation Based on Fully Actuated System Approach

Abstract

This paper investigates the problem of an agent with a second-order integrator dynamic model circumnavigating a static target in a circle orbit with desired distance and speed using bearing-only measurements. In this bearing-only problem, the agent only has access to its own motion information and the relative direction measurements of the target. Existing works only consider the first-order integrator dynamic model. In this paper, we apply the fully actuated system (FAS) approach to design a high-order controller and give a rigorous proof for the convergence of the closed-loop circumnavigation control system. A simulation is performed to verify the feasibility of the proposed method.