Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 51, Issue 1, Pages 199-209Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2020.2978981
Keywords
Robot kinematics; Vehicle dynamics; Robot sensing systems; Shape; Multi-agent systems; Transmission line matrix methods; Adaptive control; bearing-only measurement; dynamic model; formation
Categories
Funding
- Ministry of Education (MOE), Singapore [MOE2017-T2-1-050]
- Wallenberg-NTU Presidential Postdoctoral Fellowship
- National Natural Science Foundation of China [61703112, 61903319]
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The article addresses the bearing-only formation control problem of 3-D networked robotic systems with parametric uncertainties. It extends the bearing-rigid theory to solve nonlinear robotic systems and proposes a novel almost global stable distributed bearing-only formation control law, demonstrating its effectiveness through simulations. The bearing-rigid approach ensures almost global stability and excludes flip ambiguities.
In this article, we address the bearing-only formation control problem of 3-D networked robotic systems with parametric uncertainties. The contributions of this article are two-fold: 1) the bearing-rigid theory is extended to solve the nonlinear robotic systems with the Euler-Lagrange-like model and 2) a novel almost global stable distributed bearing-only formation control law is proposed for the nonlinear robotic systems. Specifically, the robotic systems subject to nonholonomic constraints and dynamics are first transformed into a Euler-Lagrange-like model. By exploring the bearing-rigid graph theory, a backstepping approach is used to design the distributed formation controller. Simulations for 3-D robotics are given to demonstrate the effectiveness of the proposed control law. Compared to the distance-rigid formation control approach, the bearing-rigid approach guarantees almost global stability while naturally excluding flip ambiguities.
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