Bearing-Based Formation Control of a Group of Agents With Leader-First Follower Structure

被引：118
作者：
Minh Hoang Trinh [1 ]
Zhao, Shiyu [2 ]
Sun, Zhiyong [3 ,4 ]
Zelazo, Daniel [6 ]
Anderson, Brian D. O. [3 ,4 ,5 ]
Ahn, Hyo-Sung [1 ]
机构：
[1] Gwangju Inst Sci & Technol, Sch Mech Engn, Distributed Control & Autonomous Syst Lab, Gwangju 500712, South Korea
[2] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England
[3] Australian Natl Univ, Data61 CSIRO, Canberra, ACT 2601, Australia
[4] Australian Natl Univ, Res Sch Engn, Canberra, ACT 2601, Australia
[5] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China
[6] Technion Israel Inst Technol, Fac Aerosp Engn, IL-32000 Haifa, Israel
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2019年 / 64卷 / 02期
基金：
澳大利亚研究理事会; 新加坡国家研究基金会; 以色列科学基金会;
关键词：
Bearing-only measurements; distributed control; Henneberg construction; leader-first follower; multi-agent systems; RIGID FORMATIONS; NETWORK LOCALIZATION; STABILIZATION; SYSTEMS; OPTIMIZATION; STABILITY;
D O I：
10.1109/TAC.2018.2836022
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.
引用
收藏
页码：598 / 613
页数：16
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