Some properties of time-varying bearing formation

Tang, Zhiqi; Cunha, Rita; Hamel, Tarek; Silvestre, Carlos

doi:10.1016/j.ejcon.2022.100699

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…Numerous approaches have been developed to address the bearing-only formation control problem, but they have primarily focused on simple scenarios such as static formations [15][16][17][18][19] or single integrator models [20,21]. These methods may not be directly applicable to highly complex and realistic multi-agent systems, which can involve various dynamics such as double integrator dynamics [22], unicycle models, nonholonomic agents [23], nonlinear systems with uncertain time delays [24], or multi-agent systems with power integrators [25], among others.…”

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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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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“…• Note that Π(p) being persistently exciting along the trajectories implies (7), but not viceversa. For detailed properties of BPE formation under fixed graph topologies (including necessary conditions and sufficient and necessary conditions to guarantee a BPE formation), please refer to [11] and [18].…”

mentioning

confidence: 99%

“…The formation being BPE implies that some of the bearings between pairs of agents belonging to the formation are PE [18], i.e., the shape of the multi-agent system may be timevarying or fixed. An illustration of a BPE formation is provided in Figure 2 below.…”

mentioning

confidence: 99%

Localization and Tracking Control of Autonomous Vehicles in Time-Varying Bearing Formation

Tang

Lorı́a

2023

IEEE Control Syst. Lett.

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This letter proposes an observer-based formation tracking control approach for multi-agent velocitycontrolled vehicles under the assumption that either relative or global position measurements are unavailable for all the vehicles. It is assumed that only some vehicles (at least one) have access to their own global position, and all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles. Each vehicle estimates its global position using relative bearing measurements and estimates of neighboring vehicles received over a communications network. Then, a distributed outputfeedback observer-based controller is designed relying on bearing measurements and the estimated global positions. In contrast with the literature on bearing-based localization and control, we relax the common assumption of so-called bearing rigidity, and, in addition, we do not assume that the interconnections are constant. To the best of our knowledge, the bearing-based localization-and-tracking control problem under such assumptions remains open. In support of our theoretical findings, some simulation results are presented to illustrate the performance of the proposed observer-based tracking controllers.

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Fixed-time leader-follower formation control of underactuated unmanned surface vehicles with unknown dynamics and ocean disturbances

Batista

Zhang

et al. 2023

European Journal of Control

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Some properties of time-varying bearing formation

Cited by 4 publications

References 9 publications

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

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

Localization and Tracking Control of Autonomous Vehicles in Time-Varying Bearing Formation

Fixed-time leader-follower formation control of underactuated unmanned surface vehicles with unknown dynamics and ocean disturbances

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