Distributed bearing-only quadrilateral formation control

Publisher:
Elsevier
Publication Type:
Conference Proceeding
Citation:
IFAC Proceedings Volumes (IFAC-PapersOnline), 2011, 18 (Part 1), pp. 4507 - 4512
Issue Date:
2011-12-01
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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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