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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2501.08058 |
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| _version_ | 1866913649322360832 |
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| author | Singh, Anand Jain, Anoop |
| author_facet | Singh, Anand Jain, Anoop |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_08058 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Range-Only Dynamic Output Feedback Controller for Safe and Secure Target Circumnavigation Singh, Anand Jain, Anoop Systems and Control 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. |
| title | Range-Only Dynamic Output Feedback Controller for Safe and Secure Target Circumnavigation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2501.08058 |