核心概念
Adaptive control laws stabilize leader-follower formations under disturbances.
要約
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.
統計
A set of leaders are positioned at desired locations.
Adaptive variable-structure formation control laws provided.
Leaders' motion affects followers' model as disturbances.
Bearing-only control reduces sensor usage and is suitable for military applications.
Theoretical basis developed in d-dimensional space.
引用
"The main novelty of the proposed control laws is providing a distributed adaptive mechanism."
"Simulation results are given to support the stability analysis."
"Research inspired by animals' visual-based guidance rules."