Finite-time stabilisation of cyclic formations using bearing-only measurements
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Publication:5494490
DOI10.1080/00207179.2013.854439zbMATH Open1291.93259arXiv1303.2409OpenAlexW2034316458MaRDI QIDQ5494490FDOQ5494490
Authors: Shiyu Zhao, Feng Lin, Kemao Peng, Ben M. Chen, Tong Heng Lee 
Publication date: 28 July 2014
Published in: International Journal of Control (Search for Journal in Brave)
Abstract: This paper studies 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. The evolution of the vehicle positions in the plane is also characterized.
Full work available at URL: https://arxiv.org/abs/1303.2409
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Cited In (14)
- Collision-free zero-communication finite-time target localization and circumnavigation by multiple agents using bearing-only measurements
- Specified-time bearing-based formation control of multi-agent systems via a dynamic gain approach
- Formations on directed cycles with bearing-only measurements
- Event-triggered-based adaptive dynamic programming for distributed formation control of multi-UAV
- Load reduction of a monopile wind turbine tower using optimal tuned mass dampers
- Distributed control of angle-constrained cyclic formations using bearing-only measurements
- Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
- Finite-time distributed localization and multi-orbit circumnavigation with bearing-only measurements
- Scalable multi-agent formation with bearing only measurement: consensus based approach
- On the GPI approach with unknown inertia matrix in robot manipulators
- Formation Potential Field for Trajectory Tracking Control of Multi-Agents in Constrained Space
- A simple proof of the Lyapunov finite-time stability theorem
- Bearing‐only control of directed cycle formations: Almost global convergence and hardware implementation
- Bearing-only formation control of multi-agent systems in local reference frames
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