A very relaxed control law for bearing-only triangular formation control

Adrian N. Bishop*

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    42 Citations (Scopus)

    Abstract

    The problem of bearing-only triangular formation control is considered. Each agent measures two inter-agent bearings in a local coordinate system and is tasked with establishing, and maintaining, a desired angular separation relative to its neighbours (and consequently an overall desired shape). A distributed control law is designed for each agent that is based only on the agent's locally measured bearings. A strong convergence result is established which guarantees global exponential convergence of the formation to the desired shape. Despite the convergence guarantee, the controller is also relaxed in the sense that each agent can independently choose their control inputs within a large region of values. The proposed controller is robust to a single agent motion failure or a common group motion command.

    Original languageEnglish
    Title of host publicationProceedings of the 18th IFAC World Congress
    PublisherIFAC Secretariat
    Pages5991-5998
    Number of pages8
    Edition1 PART 1
    ISBN (Print)9783902661937
    DOIs
    Publication statusPublished - 2011

    Publication series

    NameIFAC Proceedings Volumes (IFAC-PapersOnline)
    Number1 PART 1
    Volume44
    ISSN (Print)1474-6670

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