Finite-time stabilisation of cyclic formations using bearing-only measurements
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Publication:5494490
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.
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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
- Event-triggered-based adaptive dynamic programming for distributed formation control of multi-UAV
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