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Title: Distributed control of angle-constrained circular formations using bearing-only measurements
Authors: Zhao, S.
Lin, F. 
Peng, K. 
Chen, B.M. 
Lee, T.H. 
Issue Date: 2013
Citation: 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.
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
ISBN: 9781467357692
DOI: 10.1109/ASCC.2013.6606114
Appears in Collections:Staff Publications

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