Bearing-based formation stabilization with directed interaction topologies

This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where the interaction topology is directed. It is shown that a li...

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Bibliographic Details
Published in2015 54th IEEE Conference on Decision and Control (CDC) pp. 6115 - 6120
Main Authors Shiyu Zhao, Zelazo, Daniel
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2015
Subjects
Jacobian matrices
Laplace equations
Null space
Position measurement
Stability analysis
Symmetric matrices
Topology
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Summary:This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where the interaction topology is directed. It is shown that a linear distributed control law, which was proposed previously for undirected cases, can still be applied to the directed case. The formation stability in the directed case, however, relies on a new notion termed bearing persistence, which describes whether or not the directed underlying graph is persistent with the bearing rigidity of a formation. If a target formation is not bearing persistent, undesired equilibriums will appear and global formation stability cannot be guaranteed. The notion of bearing persistence is defined by the bearing Laplacian matrix and illustrated by simulation examples.
DOI:10.1109/CDC.2015.7403181