Distributed bearing-only formation control with four agents and a weak control law

Adrian N. Bishop*

*Corresponding author for this work

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

    23 Citations (Scopus)

    Abstract

    A distributed control law for quadrilateral (four-agent) formation control with bearing-only measurements and relative pair-wise inter-agent angle constraints is introduced. The control law is weak in the sense that each agent is free to choose their own heading within a relatively large region of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable. Illustrative examples are provided to demonstrate the claims.

    Original languageEnglish
    Title of host publication2011 9th IEEE International Conference on Control and Automation, ICCA 2011
    Pages30-35
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event9th IEEE International Conference on Control and Automation, ICCA 2011 - Santiago, Chile
    Duration: 19 Dec 201121 Dec 2011

    Publication series

    NameIEEE International Conference on Control and Automation, ICCA
    ISSN (Print)1948-3449
    ISSN (Electronic)1948-3457

    Conference

    Conference9th IEEE International Conference on Control and Automation, ICCA 2011
    Country/TerritoryChile
    CitySantiago
    Period19/12/1121/12/11

    Fingerprint

    Dive into the research topics of 'Distributed bearing-only formation control with four agents and a weak control law'. Together they form a unique fingerprint.

    Cite this