Paper Info
Title
Distributed bearing-only formation control with four agents and a weak control law
Abstract
A distributed control law for quadrilateral (four-agent) formation control with bearing-only measurements and relative pair-wise inter-agent angle constraints is introduced. The control law is weak in the sense that each agent is free to choose their own heading within a relatively large region of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable. Illustrative examples are provided to demonstrate the claims.
Year
DOI
Venue
2011
10.1109/ICCA.2011.6138062
Control and Automation
Keywords
Field
DocType
asymptotic stability,distributed control,multi-agent systems,bearing-only measurements,distributed bearing-only formation control,four-agent formation control,global asymptotic stability,quadrilateral formation control,relative pair-wise interagent angle constraints,weak control law
Convergence (routing),Control theory,Multi-agent system,Control engineering,Bearing (mechanical),Exponential stability,Quadrilateral,Law,Mathematics,Stability theory
Conference
ISSN
ISBN
Citations 
1948-3449
978-1-4577-1475-7
6
PageRank 
References 
Authors
0.53
9
1
Name
Order
Citations
PageRank
Adrian n. Bishop133425.08