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arXiv 1408.6552eess.SYcs.SY
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轴承刚度与近全局轴承-only编队稳定化

Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization

Faculty of Aerospace Engineering, Israel Institute of Technology（以色列理工学院航空航天工程学院）

Shiyu Zhao, Daniel Zelazo

备注：
Accepted as a full paper by IEEE Transactions on Automatic Control. This is the final version before the official publication by IEEE
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AI总结：

本文研究了轴承刚度理论，提出在任意维度下，框架通过邻接轴承确定的条件是无限小轴承刚性。并提出基于轴承测量的编队稳定化控制律，证明其能近全局稳定无限小轴承刚性编队。

摘要：

轴承刚度理论研究的核心问题是确定框架是否可通过其邻接轴承唯一确定（考虑平移和缩放因子）。本文将二维结果扩展到任意维度，证明框架在任意维度下可通过邻接轴承唯一确定当且仅当框架无限小轴承刚性。本文进一步将该理论应用于仅使用轴承测量的编队稳定化问题，提出非线性分布式轴承-only编队控制律，证明其能近全局稳定无限小轴承刚性编队，并通过数值模拟验证分析结果。

英文摘要：

A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the bearing rigidity of two-dimensional frameworks, a first contribution of this paper is to extend these results to arbitrary dimensions. It is shown that a framework in an arbitrary dimension can be uniquely determined up to a translation and a scaling factor by the bearings if and only if the framework is infinitesimally bearing rigid. In this paper, the proposed bearing rigidity theory is further applied to the bearing-only formation stabilization problem where the target formation is defined by inter-neighbor bearings and the feedback control uses only bearing measurements. Nonlinear distributed bearing-only formation control laws are proposed for the cases with and without a global orientation. It is proved that the control laws can almost globally stabilize infinitesimally bearing rigid formations. Numerical simulations are provided to support the analysis.

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。

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