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Distributed control of angle-constrained cyclic formations using bearing-only measurements |
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| Affiliation: | 1. Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, PR China;2. National Key Laboratory of Science and Technology on Aerospace Intelligence Control, Beijing 100871, PR China;3. Department of Mechanics and Engineering Science, State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871, PR China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;2. DB Institute for Intelligent Technology, Inc., Chongqing 400044, China;3. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing 400044, China;4. School of Automation,Chongqing University, Chongqing 400044, China |
| Abstract: | This paper studies distributed control of multi-vehicle formations with angle constraints using bearing-only measurements. It is assumed that each vehicle can only measure the local bearings of their neighbors and there are no wireless communications among the vehicles. The desired formation is a cyclic one, whose underlying information flow is described by an undirected cycle graph. We propose a distributed bearing-only formation control law that ensures local exponential or finite-time stability. Collision avoidance between any vehicles can be locally guaranteed in the absence of inter-vehicle distance measurements. |
| Keywords: | Bearing-only measurement Formation control Cyclic formation Finite-time stability Lyapunov approach |
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