Distributed Bearing-Only Quadrilateral Formation Control
Date
2011
Authors
Bishop, Adrian
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Volume Title
Publisher
International Federation of Automatic Control (IFAC)
Abstract
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.
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Keywords
Keywords: Angle constraint; Bearing-only; Distributed control law; Formation control; Globally asymptotically stable; Illustrative examples; Single-agent; Strong convergence
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Source
IFAC World Congress 2011 proceedings
Type
Conference paper
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Restricted until
2037-12-31
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