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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.
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
ISSN: 01676911
DOI: 10.1016/j.sysconle.2013.10.003
Appears in Collections:Staff Publications

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