Bearing-only formation control under persistence of excitation

  title={Bearing-only formation control under persistence of excitation},
  author={Zhiqi Tang and Rita Cunha and T. Hamel and Carlos Silvestre},
  journal={2020 59th IEEE Conference on Decision and Control (CDC)},
This paper addresses the problem of bearing-only formation control in d (d ≥ 2)-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE, distributed bearing-only control laws are proposed, which guarantee exponential stabilization of the desired formation only up to a translation vector. The key outcome of this approach relies in exploiting the bearing PE to significantly relax the conditions imposed on… 

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