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:
Filename Description Size
1-s2.0-S1474667016443181-main.pdfPublished version506.46 kB
Adobe PDF
Full metadata record
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.
Please use this identifier to cite or link to this item: