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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 | Citation: | 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 |
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