화학공학소재연구정보센터
IEEE Transactions on Automatic Control, Vol.64, No.2, 598-613, 2019
Bearing-Based Formation Control of a Group of Agents With Leader-First Follower Structure
This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.