Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
752214 | Systems & Control Letters | 2014 | 13 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Shiyu Zhao, Feng Lin, Kemao Peng, Ben M. Chen, Tong H. Lee,