Bearing-only control of directed cycle formations: almost global convergence and hardware implementation. (English) Zbl 1466.93108
Summary: In this article, we study bearing-only control of directed cyclic formations. First, we provide a necessary and sufficient condition on the bearing constraints so that the directed cycle formation of \(n\)-agents in \((n -1)\)-dimensional space is infinitesimally bearing rigid. Second, a bearing-only control law which only allows motions perpendicular to the desired bearing vector is proposed. Under this control law, the agents globally asymptotically converge to a desired formation which is fully determined from their initial positions and desired bearing vectors. Finally, the proposed formation control law is implemented on mobile robots to support the analysis.
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93D05 | Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory |
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