Bearing-Only Consensus and Formation Control under Directed Topologies
Bearing-Only Consensus and Formation Control under Directed Topologies
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定向拓扑下的仅方位共识和编队控制
DOI：
10.23919/acc45564.2020.9147417
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Roberto Tron
中科院分区：
文献类型：
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作者：
Arman Karimian;Roberto Tron
我们解决了仅轴承共识和形成控制的问题，在这种问题中，每个代理只能测量其邻居的相对轴承，而相对距离不可用。我们为在差异包含的背景下从非平滑lyapunov函数的两个梯度降低定律的Filippov解决方案提供稳定性结果。对于与无向传感拓扑的共识和形成控制问题，我们证明了所提出的非平滑梯度流的有限时间和渐近收敛性。对于定向共识问题，我们证明使用不同的非平滑lyapunov函数的渐近收敛性，因为感应图具有全球可触及的节点。最后，对于定向的形成控制问题，我们证明了定向循环和定向无环形图的渐近收敛性，还引入了一个新的轴承持久性概念，可以保证与所需的轴承收敛。
We address the problems of bearing-only consensus and formation control, where each agent can only measure the relative bearings of its neighbors and relative distances are not available. We provide stability results for the Filippov solutions of two gradient-descent laws from non-smooth Lyapunov functions in the context of differential inclusion. For the consensus and formation control problems with undirected sensing topologies, we prove finite-time and asymptotic convergence of the proposed non-smooth gradient flows. For the directed consensus problem, we prove asymptotic convergence using a different non-smooth Lyapunov function given that the sensing graph has a globally reachable node. Finally, for the directed formation control problem we prove asymptotic convergence for directed cycles and directed acyclic graphs and also introduce a new notion of bearing persistence which guarantees convergence to the desired bearings.