Distributed control of angle-constrained cyclic formations using bearing-only measurements

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 cy...

Full description

Saved in:
Bibliographic Details
Published inSystems & control letters Vol. 63; pp. 12 - 24
Main Authors Zhao, Shiyu, Lin, Feng, Peng, Kemao, Chen, Ben M., Lee, Tong H.
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.01.2014
Subjects
Bearing-only measurement
Bearings
Control systems
Cyclic formation
Finite-time stability
Formation control
Formations
Graphs
Law
Lyapunov approach
Stability
Vehicles
Wireless communication
Formation control
Finite-time stability
Bearing-only measurement
Lyapunov approach
Cyclic formation
Online AccessGet full text

Cover

More Information
Summary: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.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2013.10.003