仅使用方位测量的角度约束圆形编队分布式控制
Distributed Control of Angle-constrained Circular Formations using Bearing-only Measurements
AI总结：
针对平面内多智能体仅通过局部方位测量实现角度约束圆形编队的问题，提出一种分布式控制律，基于Lyapunov方法证明其能保证局部指数稳定性和有限时间稳定性，且可通过参数切换。
摘要：
本文研究仅使用方位测量的平面多智能体分布式编队控制。假设每个智能体仅测量其邻居智能体的局部方位。本文考虑的目标编队是圆形编队，其中每个智能体恰好有两个邻居。在目标编队中，每个智能体由其两个邻居所张成的角度是指定的。我们提出了一种分布式控制律，仅使用局部方位测量即可稳定角度约束的目标编队。基于Lyapunov方法分析了目标编队的稳定性。我们给出了一个统一的证明，表明我们的控制律不仅能保证局部指数稳定性，还能实现局部有限时间稳定性。通过调整控制律中的一个参数，可以轻松切换指数稳定性或有限时间稳定性。
英文摘要：
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in this paper is a circular formation, where each agent has exactly two neighbors. In the target formation, the angle subtended at each agent by their two neighbors is specified. We propose a distributed control law that stabilizes angle-constrained target formations merely using local bearing measurements. The stability of the target formation is analyzed based on Lyapunov approaches. We present a unified proof to show that our control law not only can ensure local exponential stability but also can give local finite-time stability. The exponential or finite-time stability can be easily switched by tuning a parameter in the control law.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
