Bearing Measurement Based Formation Maneuver Control

被引：0
|
作者：
Xiao, Zhixuan [1 ]
Fan, Xiaoping [1 ,2 ]
Yang, Xiaowu [3 ,4 ]
机构：
[1] Cent South Univ, Sch Automat, Changsha 410075, Peoples R China
[2] Hunan Univ Finance & Econ, Sch Informat Technol & Management, Changsha 410205, Peoples R China
[3] Guizhou Inst Technol, Coll Artificial Intelligence & Elect Engn, Guiyang 550003, Peoples R China
[4] Special Key Lab Artificial Intelligence & Intelli, Guiyang 550003, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
关键词：
bearing rigidity; formation maneuvering; multi-agent system; formation control; MULTIAGENT SYSTEMS; FORMATION TRACKING; AGENTS;
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：
In this paper, bearing rigidity theory, Routh-Hurwitz stability theory and Lyapunov stability theory are used to study the bearing measurement based formation maneuver control. Two leaders are set up in the formation and different control laws are designed for the second leader and followers respectively, and the global formation stability is also analyzed. In the target formation, the followers are constrained by bearings, and the leaders are constrained by bearing and distance. The formation scaling and rotation maneuverings can be achieved by adjusting the distance constraint and bearing constraint between two leaders respectively. In the whole formation control process, wireless communication is not required. The control laws only rely on the bearings, speed measurements of agents and the distance measurement between two leaders. Finally, some simulations are provided to verify our analysis.
引用
收藏
页码：4966 / 4971
页数：6
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