Decentralized sliding-mode control laws for the bearing-based formation tracking problem

@article{VanVu2021DecentralizedSC,
  title={Decentralized sliding-mode control laws for the bearing-based formation tracking problem},
  author={Dung Van Vu and Minh Hoang Trinh},
  journal={2021 International Conference on Control, Automation and Information Sciences (ICCAIS)},
  year={2021},
  pages={67-72}
}
  • Dung Van Vu, M. Trinh
  • Published 11 October 2021
  • Computer Science, Mathematics
  • 2021 International Conference on Control, Automation and Information Sciences (ICCAIS)
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each followers can measure the relative positions of its neighbors, its own velocities, and receive information from their neighbors. Under the assumptions that the desired formation is infinitesimally bearing rigid and the local reference frames of followers are… 

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References

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Robust tracking control of bearing-constrained leader-follower formation
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TLDR
In this letter, the bearing-only formation tracking control problem of multi-agent systems modeled as double-integrators in local reference frames is investigated and a bearing- only controller is developed to achieve the desired moving formation.
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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
Bearing-Only Formation Tracking Control of Multiagent Systems
TLDR
New bearing-only formation control laws are proposed to track moving target formations and handle a variety of agent models including single-Integrator, double-integrator, and unicycle models, an important step towards the application of bearing- only formation control in practical tasks.
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TLDR
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TLDR
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