Bearing‐only control of directed cycle formations: Almost global convergence and hardware implementation

DOI10.1002/RNC.5023MaRDI QIDQ4990837zbMATH OpenOpenAlexFDO

Authors Gwihan Ko, Minh Hoang Trinh, Hyo-Sung Ahn

Publication date 31 May 2021

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.5023

zbMATH Keywords

bearing rigiditybearing-only measurementformation controlLyapunov stability

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cited in

(8)

• Distributed control of angle-constrained cyclic formations using bearing-only measurements
• Robust tracking control of bearing-constrained leader-follower formation
• Formations on directed cycles with bearing-only measurements
• Bearing-only formation control of multi-agent systems in local reference frames
• Finite-time stabilisation of cyclic formations using bearing-only measurements
• Distributed bearing‐based formation control and network localization with exogenous disturbances
• Differentiator‐based bearing‐only formation control of quadrotors
• Lyapunov-like functions for almost global convergence in discrete-time systems

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