Predefined-Time Target Localization and Circumnavigation using Bearing-Only Measurements: Theory and Experiments

Abstract: This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence rate of target estimation, we introduce a novel adaptive target estimator that enables the agent to accurately localize the position of the unknown target with a tunable, predefined convergence time. Following this, we design a controller integrated with the estimator to steer the agent onto a circular trajectory centered at the target with a desired radius. The predefined-time stability of the overall system including the estimation and control errors are rigorously analyzed. Extensive simulations and experiments using unmanned aerial vehicles (UAVs) illustrate the performance and efficacy of the proposed estimation and control algorithms.