TY - GEN
T1 - Distributed bearing-only formation control with four agents and a weak control law
AU - Bishop, Adrian N.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84858961114&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2011.6138062
DO - 10.1109/ICCA.2011.6138062
M3 - Conference contribution
SN - 9781457714757
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 30
EP - 35
BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011
T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011
Y2 - 19 December 2011 through 21 December 2011
ER -