面向安全可靠目标环绕的仅测距动态输出反馈控制器
Range-Only Dynamic Output Feedback Controller for Safe and Secure Target Circumnavigation
AI总结：
针对单轮机器人环绕未知目标的安全与感知约束需求，提出仅依赖本地测距的动态输出反馈控制方法，基于联合Lyapunov函数证明闭环渐近稳定与约束满足，经仿真和实验验证有效。
摘要：
机器人系统在敌对目标周边导航时，安全性与可靠性至关重要。本文研究单轮机器人对未知目标的环绕问题，确保机器人在整个运动过程中与目标保持期望的安全距离，且始终处于目标周边的感知区域内。所提出的控制设计方法基于构建联合Lyapunov函数，该函数包含两部分：（i）表征期望目标环绕目标的二次势函数；（ii）基于障碍Lyapunov函数的势项，用于对机器人运动施加安全约束与感知约束。该控制设计的一个显著特点是仅依赖机器人与目标之间的本地距离测量值，通过将距离作为唯一可观测反馈输出的动态输出反馈控制器实现。利用Lyapunov稳定性理论，我们证明了闭环系统的期望平衡点是渐近稳定的，且在所提控制器作用下，规定的安全与可靠性约束均得到满足。我们还得到了设计后信号的严格界，并通过仿真与实验结果验证了理论贡献的有效性。
英文摘要：
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance and remains within the sensing region around the target throughout its motion. The proposed control design methodology is based on the construction of a joint Lyapunov function that incorporates: (i) a quadratic potential function characterizing the desired target-circumnavigation objective, and (ii) a barrier Lyapunov function-based potential term to enforce safety and sensing constraints on the robot's motion. A notable feature of the proposed control design is its reliance exclusively on local range measurements between the robot and the target, realized using a dynamic output feedback controller that treats the range as the only observable output for feedback. Using the Lyapunov stability theory, we show that the desired equilibrium of the closed-loop system is asymptotically stable, and the prescribed safety and security constraints are met under the proposed controllers. We also obtain restrictive bounds on the post-design signals and provide both simulation and experimental results to validate the theoretical contributions.
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