Distributed Bearing-Only Quadrilateral Formation Control
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.
|Collections||ANU Research Publications|
|Source:||IFAC World Congress 2011 proceedings|
|01_Bishop_Distributed_Bearing-Only_2011.pdf||480.71 kB||Adobe PDF||Request a copy|
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