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.
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arxiv.org
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