Arc Length Spacing-Driven Cooperative Elliptical Encircling Control of Robots: Design and Experiments

Most studies of cooperative enclosing control are centered around moving along the shared circle with available position information. Note that Global Positioning System (GPS) is typically inaccessible under hostile scenar- ios, and elliptical circumnavigation may provide a more flexible and high-efficiency entrapping solution, whilst the non-orthogonality of axial and tangential velocities and the lack of GPS enable elliptical entrapping to be more challeng- ing, and the related outcomes are still rare. Following this line, a novel coordinated error in terms of arc length spacing is skillfully formulated and included in elliptical encircling control to characterize cooperative behaviors without trigg- ering frequent speed variation and unstable observation. Particularly, to remedy the dependence on accessible global position, a new bearing-based estimator under a local frame is proposed to recover the relative coordinate, then a modified cooperative elliptical encircling control strategy is formulated without entailing global position data. Lyapunov stability analysis demonstrates that all error variables are ultimately bounded. Both simulations and experiments are implemented to illustrate the efficacy of proposed control algorithm.