This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position only using range-based measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential stability under a fixed set of parameters for the controller. The effectiveness and advantages of the proposed controller are validated via simulations.

中文翻译：

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使用基于距离的测量以任何平滑模式包围目标

本文提出了一种无坐标控制器，该控制器仅使用基于距离的测量值来驱动移动机器人围绕未知位置包围目标。与现有工作不同，对于任何所需的平滑模式，提出了一种基于反步的控制器，以零稳态误差包围目标。此外，我们在控制器的一组固定参数下显示了其渐近指数稳定性。通过仿真验证了所提出控制器的有效性和优势。