Distributed bearing-only quadrilateral formation control
- Publication Type:
- Conference Proceeding
- IFAC Proceedings Volumes (IFAC-PapersOnline), 2011, 44 (1 PART 1), pp. 4507 - 4512
- Issue Date:
A distributed control law for quadrilateral (four-agent) formation control with bearing-only measurements and relative pair-wise inter-agent angle constraints is introduced. A strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable. In addition, it is shown that the distributed control law is generally robust to a single agent motion failure. Illustrative examples are provided to demonstrate the claims. © 2011 IFAC.
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