A very relaxed control law for bearing-only triangular formation control

Bishop, AN

A very relaxed control law for bearing-only triangular formation control

Bishop, AN

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Publication Type:: Conference Proceeding
Citation:: IFAC Proceedings Volumes (IFAC-PapersOnline), 2011, 44 (1 PART 1), pp. 5991 - 5998
Issue Date:: 2011-01-01

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Field	Value	Language
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.date.issued	2011-01-01	en_US
dc.identifier.citation	IFAC Proceedings Volumes (IFAC-PapersOnline), 2011, 44 (1 PART 1), pp. 5991 - 5998	en_US
dc.identifier.isbn	9783902661937	en_US
dc.identifier.issn	1474-6670	en_US
dc.identifier.uri	http://hdl.handle.net/10453/119487
dc.description.abstract	The problem of bearing-only triangular formation control is considered. Each agent measures two inter-agent bearings in a local coordinate system and is tasked with establishing, and maintaining, a desired angular separation relative to its neighbours (and consequently an overall desired shape). A distributed control law is designed for each agent that is based only on the agent's locally measured bearings. A strong convergence result is established which guarantees global exponential convergence of the formation to the desired shape. Despite the convergence guarantee, the controller is also relaxed in the sense that each agent can independently choose their control inputs within a large region of values. The proposed controller is robust to a single agent motion failure or a common group motion command. © 2011 IFAC.	en_US
dc.relation.ispartof	IFAC Proceedings Volumes (IFAC-PapersOnline)	en_US
dc.relation.isbasedon	10.3182/20110828-6-IT-1002.00105	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	A very relaxed control law for bearing-only triangular formation control	en_US
dc.type	Conference Proceeding
utslib.citation.volume	1 PART 1	en_US
utslib.citation.volume	44	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access	*
pubs.issue	1 PART 1	en_US
pubs.publication-status	Published	en_US
pubs.volume	44	en_US

Abstract:

The problem of bearing-only triangular formation control is considered. Each agent measures two inter-agent bearings in a local coordinate system and is tasked with establishing, and maintaining, a desired angular separation relative to its neighbours (and consequently an overall desired shape). A distributed control law is designed for each agent that is based only on the agent's locally measured bearings. A strong convergence result is established which guarantees global exponential convergence of the formation to the desired shape. Despite the convergence guarantee, the controller is also relaxed in the sense that each agent can independently choose their control inputs within a large region of values. The proposed controller is robust to a single agent motion failure or a common group motion command. © 2011 IFAC.

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http://hdl.handle.net/10453/119487