Bearing-only formation control under persistence of excitation

@article{Tang2020BearingonlyFC,
  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)},
  year={2020},
  pages={4011-4016}
}
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… 

Figures from this paper

Decentralized sliding-mode control laws for the bearing-based formation tracking problem
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  • Engineering, Mathematics
    2021 International Conference on Control, Automation and Information Sciences (ICCAIS)
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TLDR
Under the assumptions that the desired formation is infinitesimally bearing rigid and the local reference frames of followers are aligned with each other, two control laws are presented based on sliding mode control approach.
Relaxed bearing rigidity and bearing formation control under persistence of excitation
TLDR
The classical bearing rigidity condition on the graph topology, required for achieving the stabilization of a formation up to a scaling factor, is relaxed in a natural manner by exploring PE conditions imposed solely on a specific set of desired bearing vectors.

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