Name
Title | ||
|---|---|---|
Adaptive Formation Control of Networked Robotic Systems With Bearing-Only Measurements |
Abstract | ||
|---|---|---|
In this article, we address the bearing-only formation control problem of 3-D networked robotic systems with parametric uncertainties. The contributions of this article are two-fold: 1) the bearing-rigid theory is extended to solve the nonlinear robotic systems with the Euler-Lagrange-like model and 2) a novel almost global stable distributed bearing-only formation control law is proposed for the nonlinear robotic systems. Specifically, the robotic systems subject to nonholonomic constraints and dynamics are first transformed into a Euler-Lagrange-like model. By exploring the bearing-rigid graph theory, a backstepping approach is used to design the distributed formation controller. Simulations for 3-D robotics are given to demonstrate the effectiveness of the proposed control law. Compared to the distance-rigid formation control approach, the bearing-rigid approach guarantees almost global stability while naturally excluding flip ambiguities. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/TCYB.2020.2978981 | IEEE Transactions on Cybernetics |
Keywords | DocType | Volume |
Adaptive control,bearing-only measurement,dynamic model,formation | Journal | 51 |
Issue | ISSN | Citations |
1 | 2168-2267 | 5 |
PageRank | References | Authors |
0.39 | 21 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaolei Li | 1 | 32 | 6.60 |
| Changyun Wen | 2 | 3686 | 284.86 |
| Chen Ci | 3 | 27 | 6.10 |