15 research outputs found
Bearing-based formation control of a group of agents with leader-first follower structure
This paper studies bearing-based formation control
of a group of autonomous agents with the leader-first follower
(LFF) structure in an arbitrary dimensional space. Firstly, the
bearing-based Henneberg construction and some properties of
the LFF formation are introduced. Then, we propose and analyze
bearing-only control laws which almost globally stabilize LFF
formations to a desired formation. Further strategies to rotate
and to rescale the target formation are also discussed. Finally,
simulation results are provided to support the analysis
Bearing-only formation control under persistence of excitation
This paper addresses the problem of bearing-only formation control in
-dimensional space by exploring persistence of excitation (PE) of
the desired bearing reference. By defining a desired formation that is bearing
PE, distributed bearing-only control laws are proposed, which guarantee
exponential stabilization of the desired formation only up to a translation
vector. The key outcome of this approach relies in exploiting the bearing PE to
significantly relax the conditions imposed on the graph topology to ensure
exponential stabilization, when compared to the bearing rigidity conditions,
and to remove the scale ambiguity introduced by bearing vectors. Simulation
results are provided to illustrate the performance of the proposed control
method
Finite-time bearing-based maneuver of acyclic leader-follower formations
This letter proposes two finite-time bearing-based control laws for acyclic
leader-follower formations. The leaders in formation move with a bounded
continuous reference velocity and each follower controls its position with
regard to three agents in the formation. The first control law uses only
bearing vectors, and finite-time convergence is achieved by properly selecting
two state-dependent control gains. The second control law requires both bearing
vectors and communications between agents. Each agent simultaneously localizes
and follows a virtual target. Finite-time convergence of the desired formation
under both control laws is proved by mathematical induction and supported by
numerical simulations. 10.1109/LCSYS.2021.3088299Comment: Preprint, accepted to L-CS