Adaptive Angle-Constrained Enclosing Control for Multirobot Systems Using Bearing Measurements

Ke Lu, Shi Lu Dai, Xu Jin

Research output: Contribution to journalArticlepeer-review


This article proposes a constrained control framework to solve the moving-target enclosing problem for nonholonomic multirobot systems, where the safety and precision constraints are considered during the encircling motion. Based on bearing measurements, the target-robot and interrobot angles are constrained to satisfy the requirements of limited sensing range and collision avoidance. The precision constraint further guarantees all robots converging to a small neighborhood of the desired enclosing formation. With the help of adaptive estimators, universal barrier Lyapunov functions are employed to the constrained control framework despite the lack of target's velocity. Simulation results verify the effectiveness of the proposed control algorithm.

Original languageEnglish
Pages (from-to)1324-1331
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - Feb 1 2024

Bibliographical note

Publisher Copyright:
© 1963-2012 IEEE.


  • Angle constraints
  • collision avoidance
  • enclosing control
  • limited sensing range
  • nonholonomic mobile robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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