论文信息 - Distributed Bearing-Only Quadrilateral Formation Control

Distributed Bearing-Only Quadrilateral Formation Control

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. A strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable. In addition, it is shown that the distributed control law is generally robust to a single agent motion failure. Illustrative examples are provided to demonstrate the claims.

Adrian N. Bishop

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