Bearing-Based Formation Tracking Control With Time-Varying Velocity Estimation

Su, Haifan; Chen, Cailian; Yang, Ziwen; Zhu, Shanying; Guan, Xinping

doi:10.1109/tcyb.2022.3169891

Cited by 19 publications

(12 citation statements)

References 42 publications

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“…Assumption 2 is often used in the bearing‐only distributed formation control problem as in References 22‐28, which guarantees that there is no collision between the agents. It can be realized by the behavior‐based control approach where if the distance between the agents is smaller than the safety distance, a repulsive force is triggered to avoid the collisions.…”

Section: Problem Formulationmentioning

confidence: 99%

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Bearing‐only containment control of multi‐agent systems

Duan,

Yang,

Zhu

et al. 2023

Intl J Robust & Nonlinear

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Bearing‐only containment control means to achieve containment using only the bearing information, rather than the complete relative position information including both the bearing and the distance. Compared with the most existing relative position based containment control algorithms, the bearing‐only containment control algorithm is nonlinear due to the nonlinearity of the bearing, which renders the stability analysis challenging. In this article, the bearing‐only containment control problem of multi‐agent systems with dynamically changing topologies is investigated for two cases, where the leaders are stationary or dynamic. First, when the leaders are stationary, it is shown that the nonlinearity of the bearing leads to the unknown nonlinear time‐varying parameters in the system. Based on the boundedness of the nonlinear parameters and the connectivity of the switching directed sensing graphs, it is proven that all the followers converge to the stationary convex hull formed by the leaders asymptotically. Second, when the leaders are dynamic, a distributed estimator is proposed for each follower to keep a local estimate of the velocity of the leaders. Based on the optimality of the projection and the shift invariance of the normal cone, it is proven that all the followers converge to the dynamic convex hull formed by the leaders asymptotically under the conditions on the switching directed sensing and communication graphs. It is shown from the two cases that the distance information is not necessary for containment control, and containment can be achieved as long as the bearing information is provided. Numerical examples are presented to illustrate the theoretical results.

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Section: Problem Formulationmentioning

confidence: 99%

“…There are some continuous methods to solve the bearing-only formation control problem, [22][23][24][25][26][27][28] where the agents are driven to form the desired formation shape. In Reference 25, bearing rigidity theory is utilized to investigate the formation control problem of multi-agent systems.…”

Section: Introductionmentioning

confidence: 99%

Bearing‐only containment control of multi‐agent systems

Duan,

Yang,

Zhu

et al. 2023

Intl J Robust & Nonlinear

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“…In [28], it is highlighted that at least one anchor with the global position information is required to pin down the entire formation shape. Furthermore, at least one distance information is required to remove the scale uncertainty, as used in [29]. In [10], [23], [24], at least two anchors are required for network localization relying on bearing-only measurements.…”

Section: B Problem Formulationmentioning

confidence: 99%

Relative Displacement Measurement Based Affine Formation Tracking Control for Nonholonomic Kinematic Agents

Chen

Wang

2022

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper studies the bearing-based time-varying formation control problem for unicycle-type agents without bearing rigidity conditions. In the considered problem, only a small set of agents, named as anchors, can obtain their global positions, and the other agents only have access to the bearing information relative to their neighbors. To address the problem, we propose a novel scheme integrating the distributed localization algorithm and the observer-based formation tracking controller. The designed localization algorithm estimates the global position by using inter-agent bearing measurements, and the observer-based controller tracks the desired formation with the estimated positions. A key distinction of our approach is extending the localization-and-tracking control scheme to the bearing-based coordination of nonholonomic systems, where the desired inter-agent bearings can be time-varying, instead of the constant ones assumed in most of the existing researches. The asymptotic stability of the coupled localization-and-tracking control system is proved, and simulations are carried out to validate the theoretical analysis.

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“…The coordination of multiple agents has attracted considerable interest and research attention, especially in the areas of consensus control [1], formation control [2], and swarm control [3]. These control techniques have various applications in fields such as environmental monitoring, collective exploration, and coordinated rescue missions [4][5][6]. Among these applications, formation control plays a crucial role in achieving and maintaining a desired formation shape for multi-agent systems [7].…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

Ding,

Zhang,

Zhang

et al. 2023

Asian Journal of Control

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This article delves into the bearing‐only formation tracking control problem of nonlinear multi‐agent systems with unknown disturbances and unmodeled dynamics, wherein the distributed control solely utilizes the relative bearing information of its neighbors. Firstly, a disturbance observer combined with a neural network is proposed to eliminate the impact of unknown disturbances and unmodeled dynamics. Additionally, a pioneering event‐triggered based backstepping control approach is put forth for the formation tracking control problem of nonlinear multi‐agent systems, which economizes on communication bandwidth and computing resources by decreasing the update frequency of the controller. Finally, using the Lyapunov method, it is demonstrated that all signals of the control system are bounded, and the convergence errors are confined to a small neighborhood of the origin while excluding the “Zeno behavior” phenomenon through rigorous proof.

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Bearing-Based Formation Tracking Control With Time-Varying Velocity Estimation

Cited by 19 publications

References 42 publications

Bearing‐only containment control of multi‐agent systems

Bearing‐only containment control of multi‐agent systems

Relative Displacement Measurement Based Affine Formation Tracking Control for Nonholonomic Kinematic Agents

Event‐triggered based bearing‐only formation control for nonlinear multi‐agent with unknown disturbance

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