Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.sysconle.2013.10.003
Title: Distributed control of angle-constrained cyclic formations using bearing-only measurements
Authors: Zhao, S.
Lin, F. 
Peng, K. 
Chen, B.M. 
Lee, T.H. 
Keywords: Bearing-only measurement
Cyclic formation
Finite-time stability
Formation control
Lyapunov approach
Issue Date: 2014
Source: Zhao, S., Lin, F., Peng, K., Chen, B.M., Lee, T.H. (2014). Distributed control of angle-constrained cyclic formations using bearing-only measurements. Systems and Control Letters 63 (1) : 12-24. ScholarBank@NUS Repository. https://doi.org/10.1016/j.sysconle.2013.10.003
Abstract: This paper studies distributed control of multi-vehicle formations with angle constraints using bearing-only measurements. It is assumed that each vehicle can only measure the local bearings of their neighbors and there are no wireless communications among the vehicles. The desired formation is a cyclic one, whose underlying information flow is described by an undirected cycle graph. We propose a distributed bearing-only formation control law that ensures local exponential or finite-time stability. Collision avoidance between any vehicles can be locally guaranteed in the absence of inter-vehicle distance measurements. © 2013 Elsevier B.V. All rights reserved.
Source Title: Systems and Control Letters
URI: http://scholarbank.nus.edu.sg/handle/10635/55675
ISSN: 01676911
DOI: 10.1016/j.sysconle.2013.10.003
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

24
checked on Dec 6, 2017

WEB OF SCIENCETM
Citations

19
checked on Nov 17, 2017

Page view(s)

101
checked on Dec 10, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.