Maximum Hands-Off Distributed Bearing-Based Formation Control
Maximum Hands-Off Distributed Bearing-Based Formation Control
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DOI：
10.1109/cdc40024.2019.9029574
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发表时间：
2019-12
期刊：
影响因子：
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通讯作者：
Takuya Ikeda;Daniel Zelazo;K. Kashima
中科院分区：
文献类型：
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作者：
Takuya Ikeda;Daniel Zelazo;K. Kashima
本文研究了基于采样的轴承信息的连续时间多代理系统的分布式轴承构成的形成控制。该问题在任意维空间中考虑。我们提出的方法通过L0控制成本来惩罚控制工作，因此获得的分布式控制得到了增强，以使其完全零值。这样的控件称为最大手持控制。所提出的方法跟踪相关的离散时间多代理系统的分布式控件。因此，我们还新地描述了离散时间轴承的轴承约束的形成。该分析依赖于最近开发的轴承刚度理论。通过结果，我们显示了拟议控制的可行性，闭合形式和稳定性。
This paper investigates a distributed bearing-constrained formation control of continuous-time multi-agent systems based on sampled bearing information. The problem is considered in arbitrary dimensional spaces. Our proposed method penalizes the control effort by L0 control cost, and hence the obtained distributed control is enhanced to take exactly zero value. Such a control is called maximum hands-off control. The proposed method tracks a distributed control for an associated discrete-time multi-agent system. Hence, we also newly characterize a bearing-constrained formation for discrete-time one. The analysis relies on the recently developed bearing rigidity theory. With the results, we show the feasibility, closed form, and stability of the proposed control.