2012/10/28 by Shiyu Zhao, Zhao, Shiyu, Feng Lin +7
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1210.7410
openalex publication_date 2012/10/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in this paper is a circular formation, where each agent has exactly two neighbors. In the target formation, the angle subtended at each agent by their two neighbors is specified. We propose a distributed control law that stabilizes angle-constrained target formations merely using local bearing measurements. The stability of the target formation is analyzed based on Lyapunov approaches. We present a unified proof to show that our control law not only can ensure local exponential stability but also can give local finite-time stability. The exponential or finite-time stability can be easily switched by tuning a parameter in the control law.