Back to Search
Start Over
Adaptive Bearing-Only Formation Tracking Control for Nonholonomic Multiagent Systems
- Source :
- IEEE Transactions on Cybernetics. 52:7552-7562
- Publication Year :
- 2022
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2022.
-
Abstract
- In this article, we consider the formation tracking problem of nonholonomic multiagent systems only using relative bearing measurements between the agents. Such a practical and important yet challenging issue has been taken into limited consideration by existing approaches, which usually requires additional measurements such as relative positions. The contributions of this article are two-fold. First, a fully distributed reference velocity estimator is proposed. Under the proposed adaptive estimator, each agent can estimate the time-varying reference velocity asymptotically. Second, an input-to-state stable controller is designed according to the bearing rigid theory. Under the proposed controller, the formation with bearing-only constraints can be achieved. Finally, the proposed scheme is demonstrated and its effectiveness is verified by presenting some simulation and experimental tests.
- Subjects :
- Nonholonomic system
0209 industrial biotechnology
Bearing (mechanical)
Computer science
Multi-agent system
Estimator
02 engineering and technology
Tracking (particle physics)
Computer Science Applications
law.invention
Human-Computer Interaction
020901 industrial engineering & automation
Control and Systems Engineering
Control theory
law
Adaptive estimator
Relative bearing
0202 electrical engineering, electronic engineering, information engineering
020201 artificial intelligence & image processing
Electrical and Electronic Engineering
Software
Information Systems
Subjects
Details
- ISSN :
- 21682275 and 21682267
- Volume :
- 52
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Cybernetics
- Accession number :
- edsair.doi.dedup.....cfeb4f9f89e349a8ec05f3e9e1fbef00