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Distributed Bearing-Only Quadrilateral Formation Control

Bishop, Adrian

Description

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.

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
URI: http://hdl.handle.net/1885/64613
Source: IFAC World Congress 2011 proceedings
DOI: 10.3182/20110828-6-IT-1002.01735

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