Flocking control and bearing-based formation control

被引：0
|
作者：
Tran, Quoc Van [1 ]
Ahn, Hyo-Sung [1 ]
机构：
[1] Gwangju Inst Sci & Technol, Sch Mech Engn, Gwangju 61005, South Korea
来源：
2018 18TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2018年
基金：
新加坡国家研究基金会;
关键词：
Flocking control; bearing-based formation control; double-integrator; LOCALIZATION;
D O I：
暂无
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 velocity consensus and bearing-based formation shape control of double-integrator modeled agents in an arbitrary dimension. The proposed control law is developed by combining the conventional consensus based flocking control and hearing-based formation control. The equilibrium set is first investigated. We then show the instability of the undesired equilibrium set and locally exponential stability of the desired equilibrium set by using Lyapunov's indirect method and center manifold theory. Finally, simulation results are given to support the proposed control strategy.
引用
收藏
页码：124 / 129
页数：6
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