TY - GEN
T1 - Bearing-based formation tracking control within appointed convergence time
AU - Liu, Qi
AU - Gao, Kai
AU - Liu, Yongfang
AU - Zhao, Yu
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Among the brief, the bearing-based rigid formation tracking control for multi-agent system within an appointed settling time has been researched thoroughly, where the communication topology is undirected and the dynamics equation for each agent are modeled as a first-order integrator. Firstly, according to the relevant knowledge of optimal control, a distributed controller is designed for each follower to form a target configuration at an appointed time. Then, the global convergence of the designed controller is strictly proved through the convergence analysis of each sampling time and each sampling interval. It is worth noting that this appointed time is arbitrary, and the initial states of several leaders can uniquely determine the target configuration. Finally, the rationality of the constructed controller is demonstrated through a numerical simulation.
AB - Among the brief, the bearing-based rigid formation tracking control for multi-agent system within an appointed settling time has been researched thoroughly, where the communication topology is undirected and the dynamics equation for each agent are modeled as a first-order integrator. Firstly, according to the relevant knowledge of optimal control, a distributed controller is designed for each follower to form a target configuration at an appointed time. Then, the global convergence of the designed controller is strictly proved through the convergence analysis of each sampling time and each sampling interval. It is worth noting that this appointed time is arbitrary, and the initial states of several leaders can uniquely determine the target configuration. Finally, the rationality of the constructed controller is demonstrated through a numerical simulation.
KW - bearing-based formation
KW - first-integrator system
KW - special time constraint control
KW - undirected networks
UR - http://www.scopus.com/inward/record.url?scp=85147968416&partnerID=8YFLogxK
U2 - 10.1109/YAC57282.2022.10023900
DO - 10.1109/YAC57282.2022.10023900
M3 - 会议稿件
AN - SCOPUS:85147968416
T3 - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
SP - 861
EP - 866
BT - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
Y2 - 19 November 2022 through 20 November 2022
ER -