The paper discusses stabilizing leader-follower formations with bearing constraints and unknown disturbances. It introduces adaptive variable-structure control laws for single-integrator agents to achieve desired formations. Theoretical background on bearing rigidity theory is presented, followed by problem formulations for displacement-based and bearing-only controls. Proposed control laws are detailed, emphasizing the rejection of disturbances and stability analysis. Simulation results support the effectiveness of the control strategies.
A otro idioma
del contenido fuente
arxiv.org
Ideas clave extraídas de
by Thanh Truong... a las arxiv.org 03-18-2024
https://arxiv.org/pdf/2305.19353.pdfConsultas más profundas