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|Title:||Distributed control of angle-constrained circular formations using bearing-only measurements|
|Source:||Zhao, S.,Lin, F.,Peng, K.,Chen, B.M.,Lee, T.H. (2013). Distributed control of angle-constrained circular formations using bearing-only measurements. 2013 9th Asian Control Conference, ASCC 2013 : -. ScholarBank@NUS Repository. https://doi.org/10.1109/ASCC.2013.6606114|
|Abstract:||This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in this paper is a circular formation, where each agent has exactly two neighbors. In the target formation, the angle subtended at each agent by their two neighbors is specified. We propose a distributed control law that stabilizes angle-constrained target formations merely using local bearing measurements. The stability of the target formation is analyzed based on Lyapunov approaches. We present a unified proof to show that the proposed control law can ensure local exponential or finite-time stability. The exponential or finite-time stability can be easily switched by tuning a parameter in the control law. © 2013 IEEE.|
|Source Title:||2013 9th Asian Control Conference, ASCC 2013|
|Appears in Collections:||Staff Publications|
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