Finite-time bearing-based maneuver of acyclic leader-follower formations
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2021
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| _version_ | 1866909360803807232 |
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| author | Trinh, Minh Hoang Ahn, Hyo-Sung |
| author_facet | Trinh, Minh Hoang Ahn, Hyo-Sung |
| contents | This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three agents in the formation. The first control law uses only bearing vectors, and finite-time convergence is achieved by properly selecting two state-dependent control gains. The second control law requires both bearing vectors and communications between agents. Each agent simultaneously localizes and follows a virtual target. Finite-time convergence of the desired formation under both control laws is proved by mathematical induction and supported by numerical simulations. 10.1109/LCSYS.2021.3088299 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2106_00951 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Finite-time bearing-based maneuver of acyclic leader-follower formations Trinh, Minh Hoang Ahn, Hyo-Sung Optimization and Control Systems and Control This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three agents in the formation. The first control law uses only bearing vectors, and finite-time convergence is achieved by properly selecting two state-dependent control gains. The second control law requires both bearing vectors and communications between agents. Each agent simultaneously localizes and follows a virtual target. Finite-time convergence of the desired formation under both control laws is proved by mathematical induction and supported by numerical simulations. 10.1109/LCSYS.2021.3088299 |
| title | Finite-time bearing-based maneuver of acyclic leader-follower formations |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2106.00951 |