仅使用方位测量的圆形编队有限时间镇定
Finite-time Stabilization of Circular Formations using Bearing-only Measurements
AI总结：
针对仅能测量邻居局部方位的多车辆系统，提出一种不连续控制律实现角度约束圆形编队的有限时间镇定，并保证避碰。
摘要：
本文研究了多车辆的分散式编队控制问题，其中每个车辆仅能通过仅方位传感器测量其邻居的局部方位。由于无法测量车辆间距离，目标编队不涉及距离约束。更具体地，本文考虑的目标编队是一个角度约束的圆形编队，其中每个车辆恰好有两个邻居，且每个车辆处由其两个邻居所张成的角度是预先指定的。为了镇定目标编队，我们提出了一种仅需要角度误差符号信息的不连续控制律。由于所提控制律的不连续性，采用局部Lipschitz Lyapunov函数和非光滑分析工具分析了闭环系统的稳定性。我们证明了目标编队是局部有限时间稳定的，并保证了避碰。同时，还刻画了车辆在平面上的位置演化。
英文摘要：
This paper studies decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Since the inter-vehicle distance cannot be measured, the target formation involves no distance constraints. More specifically, the target formation considered in this paper is an angle-constrained circular formation, where each vehicle has exactly two neighbors and the angle at each vehicle subtended by its two neighbors is pre-specified. To stabilize the target formation, we propose a discontinuous control law that only requires the sign information of the angle errors. Due to the discontinuity of the proposed control law, the stability of the closed-loop system is analyzed by employing a locally Lipschitz Lyapunov function and nonsmooth analysis tools. We prove that the target formation is locally finite-time stable with collision avoidance guaranteed. The evolution of the vehicle positions in the plane is also characterized.
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。
