Paper Info
Title
Bearing-Only Formation Tracking Control of Multi-Agent Systems
Abstract
This paper studies the problem of bearing-only formation control of multi-agent systems, where the control of each agent merely relies on the relative bearings to its neighbors. Although this problem has received increasing research attention recently, it is still unsolved to a large extent due to its highly nonlinear dynamics. In particular, the existing control approaches are only able to solve the simplest scenario where the target formation is stationary and each agent is modeled as a single integrator. The main contribution of this paper is to propose new bearing-only formation control laws to (i) track moving target formations and (ii) handle a variety of agent models including single-integrator, double-integrator, and unicycle models. These control laws are an important step towards the application of bearing-only formation control in practical tasks. Both numerical simulation and real experimental results are presented to verify the effectiveness of the theoretical results.
Year
DOI
Venue
2019
10.1109/tac.2019.2903290
IEEE Transactions on Automatic Control
Keywords
Field
DocType
Target tracking,Stability analysis,Control systems,Task analysis,Atmospheric measurements,Particle measurements
Nonlinear system,Computer simulation,Task analysis,Control theory,Integrator,Multi-agent system,Bearing (mechanical),Atmospheric measurements,Control system,Mathematics
Journal
Volume
Issue
ISSN
64
11
0018-9286
Citations 
PageRank 
References 
6
0.43
0
Authors
3
Name
Order
Citations
PageRank
Shiyu Zhao114310.78
Zhenhong Li216547.51
Zhengtao Ding375764.42