Trinh, M.-H., Zhao, S. orcid.org/0000-0003-3098-8059, Sun, Z. et al. (3 more authors) (2019) Bearing-based formation control of a group of agents with leader-first follower structure. IEEE Transactions on Automatic Control, 64 (2). pp. 598-613. ISSN 0018-9286
Abstract
This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. Firstly, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws which almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and to rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. This is an author produced version of a paper subsequently published in IEEE Transactions on Automatic Control. Uploaded in accordance with the publisher's self-archiving policy. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | distributed control; multi-agent systems; bearing-only measurements; leader-first follower; Henneberg construction |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 10 Apr 2018 13:36 |
Last Modified: | 16 Nov 2020 09:10 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/TAC.2018.2836022 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:128970 |