Finite-time bearing-based maneuver of acyclic leader-follower formations
Abstract
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three agents in the formation. The first control law uses only bearing vectors, and finite-time convergence is achieved by properly selecting two state-dependent control gains. The second control law requires both bearing vectors and communications between agents. Each agent simultaneously localizes and follows a virtual target. Finite-time convergence of the desired formation under both control laws is proved by mathematical induction and supported by numerical simulations. 10.1109/LCSYS.2021.3088299
Keywords
Cite
@article{arxiv.2106.00951,
title = {Finite-time bearing-based maneuver of acyclic leader-follower formations},
author = {Minh Hoang Trinh and Hyo-Sung Ahn},
journal= {arXiv preprint arXiv:2106.00951},
year = {2024}
}
Comments
Extended version of the L-CSS paper with omitted proofs and corrections