Journal
SYSTEMS & CONTROL LETTERS
Volume 59, Issue 2, Pages 147-154Publisher
ELSEVIER
DOI: 10.1016/j.sysconle.2009.12.010
Keywords
Angle constraints; Bearing-only measurements; Distributed control; Formation control; Multi-agent systems
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This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape. (C) 2009 Elsevier B.V. All rights reserved.
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