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Relaxed bearing rigidity and bearing formation control under persistence of excitation
- Source :
- Automatica. 141:110289
- Publication Year :
- 2022
- Publisher :
- Elsevier BV, 2022.
-
Abstract
- This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference. A general concept of Bearing Persistently Exciting (BPE) formation defined in $d$-dimensional space is here fully developed. By providing a desired formation that is BPE, distributed control laws for multi-agent systems under both single- and double-integrator dynamics are proposed using bearing measurements (along with velocity measurements when the agents are described by double-integrator dynamics), which guarantee uniform exponential stabilization of the desired formation in terms of shape and scale. A key contribution of this work is to show that the classical bearing rigidity condition on the graph topology, required for achieving the stabilization of a formation up to a scaling factor, is relaxed and extended in a natural manner by exploring PE conditions imposed either on a specific set of desired bearing vectors or on the whole desired formation. Simulation results are provided to illustrate the performance of the proposed control method.<br />arXiv admin note: text overlap with arXiv:2009.00209
Details
- ISSN :
- 00051098
- Volume :
- 141
- Database :
- OpenAIRE
- Journal :
- Automatica
- Accession number :
- edsair.doi.dedup.....c733f1ac78a2936b7b4ce662426f2c0c