This paper explores stabilizing leader-follower formations under disturbances using adaptive variable-structure control laws. It focuses on bearing-constrained formations, providing control laws that stabilize agents to desired formations without needing full information on disturbances. The study shows that even when leaders move uniformly, the target formation can still be achieved. The proposed control laws offer a unified solution for leader-follower formation control and tracking with unknown disturbances. By utilizing bearing vectors, the research aims to reduce sensor requirements and enable decentralized/distributed control. Theoretical background on bearing rigidity theory is presented along with practical applications in robotics and unmanned systems.
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by Thanh Truong... at arxiv.org 03-18-2024
https://arxiv.org/pdf/2305.19353.pdfDeeper Inquiries