This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous estimator is firstly proposed to track the geometric center of targets in finite time using only local information for every follower. Then a pair of decentralized control laws for both the relative distance and included angle, respectively, are designed to achieve the desired spacing pattern in finite time based on the output of the proposed estimator. Through both theoretical analysis and simulation validation, we show that the proposed estimator is continuous and therefore can avoid dithering control output while still inheriting the merit of finite-time convergence. The steady errors of the estimator and the enclosing controller are guaranteed to converge to some bounded and adjustable regions around zero.

翻译：这项工作解决了有限时间附加的控制问题, 即部署一组追随者围绕多个移动目标围绕和旋转, 且有一定的间隔, 首先提出一个新的分布式连续估计器, 仅使用每个追随者的地方信息, 以跟踪有限时间的目标的几何中心。 然后分别针对相对距离和包括角度制定一套分散的控制法, 目的是根据拟议测量器的输出, 在有限时间内实现理想的间隔模式。 我们通过理论分析和模拟验证, 显示拟议的估计器是连续的, 因此可以避免在仍然继承有限时间趋同的优点的同时对控制输出进行抖动 。 测量器和挂载控制器的固定错误可以保证在零左右的某些受约束和可调整的区域汇合 。