Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCA.2013.6565049
Title: Finite-time stabilization of circular formations using bearing-only measurements
Authors: Zhao, S.
Lin, F. 
Peng, K. 
Chen, B.M. 
Lee, T.H. 
Issue Date: 2013
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
URI: http://scholarbank.nus.edu.sg/handle/10635/51171
ISBN: 9781467347075
ISSN: 19483449
DOI: 10.1109/ICCA.2013.6565049
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