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Bearing‐only control of directed cycle formations: Almost global convergence and hardware implementation
Author(s) -
Ko Gwihan,
Hoang Trinh Minh,
Ahn HyoSung
Publication year - 2020
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.5023
Subject(s) - bearing (navigation) , convergence (economics) , control theory (sociology) , control (management) , infinitesimal , computer science , engineering , mathematics , mathematical analysis , artificial intelligence , economics , economic growth
Summary In this article, we study bearing‐only control of directed cyclic formations. First, we provide a necessary and sufficient condition on the bearing constraints so that the directed cycle formation of n ‐agents in ( n −1)‐dimensional space is infinitesimally bearing rigid. Second, a bearing‐only control law which only allows motions perpendicular to the desired bearing vector is proposed. Under this control law, the agents globally asymptotically converge to a desired formation which is fully determined from their initial positions and desired bearing vectors. Finally, the proposed formation control law is implemented on mobile robots to support the analysis.