Finite-Time Bearing-Only Formation Control via Distributed Global Orientation Estimation

被引：71

作者：

Quoc Van Tran ^{[1
]}

Minh Hoang Trinh ^{[1
]}

Zelazo, Daniel ^{[2
]}

Mukherjee, Dwaipayan ^{[3
]}

Ahn, Hyo-Sung ^{[1
]}

机构：

[1] Gwangju Inst Sci & Technol, Sch Mech Engn, Gwangju 61005, South Korea

[2] Technion Israel Inst Technol, Fac Aerosp Engn, IL-32000 Haifa, Israel

[3] Indian Inst Technol, Dept Elect Engn, Mumbai 400076, Maharashtra, India

来源：

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2019年 / 6卷 / 02期

基金：

以色列科学基金会; 新加坡国家研究基金会;

关键词：

Bearing-only formation control; finite-time formation control; finite-time orientation estimation; MULTIAGENT SYSTEMS; CONSENSUS; STABILITY; TRACKING;

D O I：

10.1109/TCNS.2018.2873155

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 presents a finite-time bearing-only formation control scheme via finite-time estimation of agents' global orientations. For the orientation estimation, we propose a distributed estimation law and establish almost global finite-time convergence. We provide analysis for undirected and a class of directed sensing and communication graphs. A distributed bearing-only formation control law is then proposed based on the orientation estimation. We provide a rigorous analysis for almost global stability and finite-time convergence of the system to the desired equilibrium. Particularly, under the proposed bearing-only formation control strategy, the actual formation almost globally exponentially finite-time converges to the desired formation shape. Finally, numerical simulations are provided to support our proposed control method.

引用

页码：702 / 712

页数：11

共 31 条

[1] Rigid Graph Control Architectures for Autonomous Formations APPLYING CLASSICAL GRAPH THEORY TO THE CONTROL OF MULTIAGENT SYSTEMS [J].