Abstract
This chapter studies bearing-based formation control while globally aligning the orientations of agents’ local coordinate frames. Two topics are addressed. The first topic is to transform the formation systems with misaligned orientations to a formation system with aligned orientations. For this, while aligning the orientations of agents, we apply the typical bearing-based formation control laws to the distributed agents. The second topic is to control the positions of agents. But, since the positions of agents are not measured in local coordinate frames, they need to be estimated with the measurements of bearing vectors. The second topic is the counterpart of Chap. 8 in bearing setups.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
The estimation dynamics may be designed in a finite-time convergence law.
References
Michieletto, G., Cenedese, A., Franchi, A.:. Bearing rigidity theory in \(\text{SE(3)}\). In: Proceedings of the 55th IEEE Conference on Decision and Control, pp. 5950–5955 (2016)
Tran, Q.V., Ahn, H.-S.: Bearing-based formation control via distributed position estimation. In: Proceedings of the IEEE Conference on Control Technology and Applications, pp. 658–663 (2018)
Trinh, M.-H., Lee, B.-H., Ye, M., Ahn, H.-S.: Bearing-based formation control and network localization via global orientation estimation. In: Proceedings of the IEEE Conference on Control Technology and Applications, pp. 1084–1089 (2018)
Trinh, M.H., Nguyen, C.V., Lim, Y.-H., Ahn, H.-S.: Matrix-weighted consensus and its applications. Automatica 89(3), 415–419 (2018)
Zelazo, D., Giordano, P.R., Franchi, A.: Bearing-only formation control using an SE(2) rigidity theory. In: Proceedings of the 54h IEEE Conference on Decision and Control, pp. 6121–6126 (2015)
Zhao, S., Zelazo, D.: Bearing rigidity and almost global bearing-only formation stabilization. IEEE Trans. Autom. Control 61(5), 1255–1268 (2016)
Zhao, S., Zelazo, D.: Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions. Automatica 69, 334–341 (2016)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Ahn, HS. (2020). Bearing-Based Formation Control via Global Orientation Alignment . In: Formation Control. Studies in Systems, Decision and Control, vol 205. Springer, Cham. https://doi.org/10.1007/978-3-030-15187-4_10
Download citation
DOI: https://doi.org/10.1007/978-3-030-15187-4_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-15186-7
Online ISBN: 978-3-030-15187-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)