Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCA.2013.6565049
DC FieldValue
dc.titleFinite-time stabilization of circular formations using bearing-only measurements
dc.contributor.authorZhao, S.
dc.contributor.authorLin, F.
dc.contributor.authorPeng, K.
dc.contributor.authorChen, B.M.
dc.contributor.authorLee, T.H.
dc.date.accessioned2014-04-24T08:35:21Z
dc.date.available2014-04-24T08:35:21Z
dc.date.issued2013
dc.identifier.citationZhao, 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. <a href="https://doi.org/10.1109/ICCA.2013.6565049" target="_blank">https://doi.org/10.1109/ICCA.2013.6565049</a>
dc.identifier.isbn9781467347075
dc.identifier.issn19483449
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/51171
dc.description.abstractThis 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ICCA.2013.6565049
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentTEMASEK LABORATORIES
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/ICCA.2013.6565049
dc.description.sourcetitleIEEE International Conference on Control and Automation, ICCA
dc.description.page840-845
dc.identifier.isiutNOT_IN_WOS
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