This paper presents a generalized robust stability analysis for bearing-based formation control and network localization systems. For an undirected network, we provide a robust stability analysis in the presence of time-varying exogenous disturbances in arbitrary dimensional space. In addition, we compute the explicit upper-bound set of the bearing formation and network localization errors, which provides valuable information for a system design.
@article{arxiv.2007.07458,
title = {Distributed Bearing-based Formation Control and Network Localization with Exogenous Disturbances},
author = {Yoo-Bin Bae and Seong-Ho Kwon and Young-Hun Lim and Hyo-Sung Ahn},
journal= {arXiv preprint arXiv:2007.07458},
year = {2020}
}