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

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
IEEE International Conference on Control and Automation, ICCA, 2011, pp. 30 - 35
Issue Date:
2011-12-21
Full metadata record
Files in This Item:
Filename Description Size
06138062.pdfPublished version466.76 kB
Adobe PDF
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: