Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
By Shiyu Zhao, Daniel Zelazo. IEEE Transactions on Automatic Control, 2014
430 citations recorded by the source corpus.
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the bearing rigidity of two-dimensional frameworks, a first contribution of this paper is to extend these results to arbitrary dimensions. It is shown that a framework in an arbitrary dimension can be uniquely determined up to a translation and a scaling factor by the bearings if and only if the framework is infinitesimally bearing rigid. In this paper, the proposed bearing rigidity theory is further applied to the bearing-only formation stabilization problem where the target formation is defined by inter-neighbor bearings and the feedback control uses only bearing measurements. Nonlinear distributed bearing-only formation control laws are proposed for the cases with and without a global orientation. It is proved that the control laws can almost globally stabilize infinitesimally bearing rigid formations. Numerical simulations are provided to support the analysis.
Subfields: Cell Biology, Civil and Structural Engineering, Computer Networks and Communications
View Paper: https://www.semanticscholar.org/paper/4ba41ab5e021bafd2fb489ea9dc6dcaa4e108deb
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Citations in the corpus
- Affine Formation Maneuver Control of Multiagent Systems (2018, background): “Bearing-based control laws can track formations with time-varying translations and scales [9], [10], but it is difficult to track time-varying orientations.”