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Fixed-Time Enclosing Control for Autonomous Vehicles With Flexible Path Configuration Under Measurement Constraints
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DOI：10.1109/tii.2026.3682276.png)
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Abstract
En 中文
The integrated design of perception and enclosing control against an unknown target is a promising enabler for autonomous vehicles performing surveillance, entrapment, and escort missions. To address this challenge, this article develops an estimator–controller framework for target localization and enclosing under communication and measurement constraints. First, to improve the convergence performance, a novel fixed-time estimator is designed using bearing-only information, ensuring that target position is reconstructed within a fixed time. Then, to overcome the limitations of prior works that mainly rely on circular or elliptical orbits, a geometric path generator is exploited to synthesize arbitrary-shaped smooth orbits, based on which a fixed-time controller is constructed to guide the vehicle to surround the target along the prescribed path. For multivehicle scenarios, an arc length-guided decentralized formation strategy is proposed to maintain prespecified arc length separation between adjacent vehicles without relying on communication, which is particularly suitable for communication-denied environments. Finally, the fixed-time stability in the closed-loop system is rigorously proved by Lyapunov-based analysis, and both simulation and experimental results validate the effectiveness of the proposed framework.
Keywords:
Arbitrary-shaped smooth orbit
estimator–controller framework
fixed-time target localization
measurement constraint
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