文献类型：会议论文

英文题名：Bearing Measurement Based Formation Maneuver Control

作者：Xiao, Zhixuan Fan, Xiaoping Yang, Xiaowu

第一作者：Xiao, Zhixuan

通信作者：Xiao, ZX[1]

机构：[1]Cent South Univ, Sch Automat, Changsha 410075, Peoples R China;[2]Hunan Univ Finance & Econ, Sch Informat Technol & Management, Changsha 410205, Peoples R China;[3]Guizhou Inst Technol, Coll Artificial Intelligence & Elect Engn, Guiyang 550003, Peoples R China;[4]Special Key Lab Artificial Intelligence & Intelli, Guiyang 550003, Peoples R China

第一机构：Cent South Univ, Sch Automat, Changsha 410075, Peoples R China

通信机构：corresponding author), Cent South Univ, Sch Automat, Changsha 410075, Peoples R China.

会议论文集：40th Chinese Control Conference (CCC)

会议日期：JUL 26-28, 2021

会议地点：Shanghai, PEOPLES R CHINA

语种：英文

外文关键词：bearing rigidity; formation maneuvering; multi-agent system; formation control

年份：2021

摘要：In this paper, bearing rigidity theory, Routh-Hurwitz stability theory and Lyapunov stability theory are used to study the bearing measurement based formation maneuver control. Two leaders are set up in the formation and different control laws are designed for the second leader and followers respectively, and the global formation stability is also analyzed. In the target formation, the followers are constrained by bearings, and the leaders are constrained by bearing and distance. The formation scaling and rotation maneuverings can be achieved by adjusting the distance constraint and bearing constraint between two leaders respectively. In the whole formation control process, wireless communication is not required. The control laws only rely on the bearings, speed measurements of agents and the distance measurement between two leaders. Finally, some simulations are provided to verify our analysis.