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|Title:||Finite-time stabilization of circular formations using bearing-only measurements|
|Source:||Zhao, S.,Lin, F.,Peng, K.,Chen, B.M.,Lee, T.H. (2013). Finite-time stabilization of circular formations using bearing-only measurements. IEEE International Conference on Control and Automation, ICCA : 840-845. ScholarBank@NUS Repository. https://doi.org/10.1109/ICCA.2013.6565049|
|Abstract:||This paper addresses decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Since the inter-vehicle distance cannot be measured, the target formation involves no distance constraints. More specifically, the target formation considered in this paper is an angle-constrained circular formation, where each vehicle has exactly two neighbors and the angle at each vehicle subtended by its two neighbors is pre-specified. To stabilize the target formation, we propose a discontinuous control law that only requires the sign information of the angle errors. Due to the discontinuity of the proposed control law, the stability of the closed-loop system is analyzed by employing a locally Lipschitz Lyapunov function and nonsmooth analysis tools. We prove that the target formation is locally finite-time stable with collision avoidance guaranteed. © 2013 IEEE.|
|Source Title:||IEEE International Conference on Control and Automation, ICCA|
|Appears in Collections:||Staff Publications|
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