This paper investigates the cooperative moving-target enclosing control problem of networked unicycle-type nonholonomic vehicles with constant linear velocities. The information of the target is only known to some of the vehicles, and the topology of the vehicle network is described by a directed graph. A dynamic control law is proposed to steer the vehicles, such that they can get close to orbiting around the target while the target is moving with a time-vary velocity. Besides, the constraint of bounded angular velocity for the vehicles can always be satisfied. The proposed control law is distributed in the sense that each vehicle only uses its own information and the information of its neighbors in the network. Finally, simulation results of an example validate the effectiveness of the proposed control law.

中文翻译：

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具有恒定线速度的网络车辆的协同运动目标封闭

本文研究了具有恒定线速度的网络化单轮非完整车辆的协同运动目标包围控制问题。目标的信息仅对于某些车辆是已知的，并且车辆网络的拓扑由有向图描述。提出了一种动态控制定律来操纵车辆，以便当目标以时变速度运动时，它们可以接近围绕目标的轨道。此外，始终可以满足车辆的有界角速度的约束。在每个车辆仅使用其自身的信息以及网络中其邻居的信息的意义上，所提出的控制律是分布式的。最后，一个例子的仿真结果验证了所提出的控制律的有效性。