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Distributed bearing‐based formation control and network localization with exogenous disturbances
Author(s) -
Bae YooBin,
Kwon SeongHo,
Lim YoungHun,
Ahn HyoSung
Publication year - 2022
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.6146
Subject(s) - robustness (evolution) , bounded function , control theory (sociology) , computer science , boundary (topology) , lyapunov stability , bearing (navigation) , stability (learning theory) , frame (networking) , lyapunov function , control (management) , mathematical optimization , mathematics , artificial intelligence , nonlinear system , mathematical analysis , telecommunications , biochemistry , chemistry , physics , quantum mechanics , machine learning , gene
In this article, we present a generalized robust stability analysis for distributed bearing‐based formation control and network localization systems in a global reference frame. Different from many existing studies under ideal circumstances, we analyze stability of bearing‐based systems with general time‐varying exogenous disturbances. In addition to analyzing stability, explicit upper‐boundary sets of bearing formation control and network localization errors are derived via Lyapunov stability analysis. By computing the upper‐boundary sets of errors, we could obtain beneficial information for reducing and estimating the bounded errors. Since various sources of disturbances exist in reality, the research on robustness issues in this direction has potential benefits for practical applications to deal with system errors.