Affiliation:
1. Aerospace Time Feipeng Company Limited Suzhou People's Republic of China
2. Faculty of Aerospace Engineering Technion–Israel Institute of Technology Haifa Israel
3. Research Center of Satellite Technology Harbin Institute of Technology Harbin People's Republic of China
Abstract
AbstractThis article investigates the bearing‐based formation control problem for second‐order multiagent systems (SMS) in the presence of the bounded disturbances in their models. The main contributions of this article are listed as follows: (1) We extend the bearing formation control to SMS. (2) We propose two novel robust distributed bearing formation control laws. In the first control law, the bearing measurement in the global inertial frame is required. This control law guarantees that the inter‐agent bearings converge to the desired bearings. The second control law requires obtaining the local bearing measurements and relative orientation measurements. This control law guarantees that the inter‐agent bearings converge to the desired bearings and the orientation of each agent converges to a common orientation. Some simulations are conducted, and simulation results verify the effectiveness of the proposed control laws.
Funder
National Natural Science Foundation of China
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering