Finite-Time Bearing-Only Formation Control via Distributed Global Orientation Estimation

This paper presents a finite-time bearing-only formation control scheme via finite-time estimation of agents' global orientations. For the orientation estimation, we propose a distributed estimation law and establish almost global finite-time convergence. We provide analysis for undirected and...

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Bibliographic Details
Published in:IEEE transactions on control of network systems 2019-06, Vol.6 (2), p.702-712
Main Authors: Van Tran, Quoc, Trinh, Minh Hoang, Zelazo, Daniel, Mukherjee, Dwaipayan, Ahn, Hyo-Sung
Format: Article
Language:English
Subjects:
Asymptotic stability
Bearing
Bearing-only formation control
Computer simulation
Control systems
Control theory
Convergence
Estimation
finite-time formation control
finite-time orientation estimation
Multi-agent systems
Orientation
Sensors
Stability analysis
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Summary:This paper presents a finite-time bearing-only formation control scheme via finite-time estimation of agents' global orientations. For the orientation estimation, we propose a distributed estimation law and establish almost global finite-time convergence. We provide analysis for undirected and a class of directed sensing and communication graphs. A distributed bearing-only formation control law is then proposed based on the orientation estimation. We provide a rigorous analysis for almost global stability and finite-time convergence of the system to the desired equilibrium. Particularly, under the proposed bearing-only formation control strategy, the actual formation almost globally exponentially finite-time converges to the desired formation shape. Finally, numerical simulations are provided to support our proposed control method.
ISSN:2325-5870
2372-2533
DOI:10.1109/TCNS.2018.2873155