Distributed bearing-only formation control with four agents and a weak control law

Bishop, AN

Distributed bearing-only formation control with four agents and a weak control law

Bishop, AN

Permalink

Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Control and Automation, ICCA, 2011, pp. 30 - 35
Issue Date:: 2011-12-01

Closed Access

	Filename	Description	Size
	06138062.pdf	Published version	466.76 kB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.date.issued	2011-12-01	en_US
dc.identifier.citation	IEEE International Conference on Control and Automation, ICCA, 2011, pp. 30 - 35	en_US
dc.identifier.isbn	9781457714757	en_US
dc.identifier.issn	1948-3449	en_US
dc.identifier.uri	http://hdl.handle.net/10453/119668
dc.description.abstract	A distributed control law for quadrilateral (four-agent) formation control with bearing-only measurements and relative pair-wise inter-agent angle constraints is introduced. The control law is weak in the sense that each agent is free to choose their own heading within a relatively large region of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable. Illustrative examples are provided to demonstrate the claims. © 2011 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Control and Automation, ICCA	en_US
dc.relation.isbasedon	10.1109/ICCA.2011.6138062	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Distributed bearing-only formation control with four agents and a weak control law	en_US
dc.type	Conference Proceeding
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.publication-status	Published	en_US

Abstract:

A distributed control law for quadrilateral (four-agent) formation control with bearing-only measurements and relative pair-wise inter-agent angle constraints is introduced. The control law is weak in the sense that each agent is free to choose their own heading within a relatively large region of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable. Illustrative examples are provided to demonstrate the claims. © 2011 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/119668