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Distributed Bearing-Only Formation Control for Heterogeneous Nonlinear Multi-Robot Systems

Wu, Kefan; Hu, Junyan; Ding, Zhengtao; Arvin, Farshad

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Authors

Kefan Wu

Zhengtao Ding



Contributors

Hideaki Ishii
Editor

Yoshio Ebihara
Editor

Jun-ichi Imura
Editor

Masaki Yamakita
Editor

Abstract

This paper addresses the bearing-only formation tracking problem for heterogeneous nonlinear multi-robot systems. In contrast to position and distance-based formation algorithms, the robots can only measure the bearing information from their neighbors to achieve cooperation while the state information is unavailable. This characteristic is able to be implemented in the hardware to reduce the requirements of the sensors. We construct a compensation function in the proposed controller to eliminate the effect of the unknown nonlinear terms in the system. This compensation function is also based on bearing measurements, which guarantees that the overall controller is bearing-only. The stability of the proposed formation tracking strategy can be ensured by Lyapunov techniques. Moreover, we analyze the performance of the protocol for moving leaders, where the formation tracking error can be restricted in a bounded set. Finally, the simulation results are presented to validate the feasibility of the proposed algorithm for both fixed and moving leaders.

Citation

Wu, K., Hu, J., Ding, Z., & Arvin, F. (2023). Distributed Bearing-Only Formation Control for Heterogeneous Nonlinear Multi-Robot Systems. In H. Ishii, Y. Ebihara, J. Imura, & M. Yamakita (Eds.), 22nd IFAC World Congress (3447-3452). https://doi.org/10.1016/j.ifacol.2023.10.1496

Start Date Jul 9, 2023
Acceptance Date Jun 12, 2022
Online Publication Date Nov 22, 2023
Publication Date Nov 22, 2023
Deposit Date Apr 10, 2024
Publicly Available Date Apr 18, 2024
Publisher International Federation of Automatic Control (IFAC)
Volume 56
Pages 3447-3452
Series Title IFAC-PapersOnLine
Series ISSN 2405-8963
Book Title 22nd IFAC World Congress
DOI https://doi.org/10.1016/j.ifacol.2023.10.1496
Keywords Industrial and Manufacturing Engineering; Environmental Engineering
Public URL https://durham-repository.worktribe.com/output/2381777

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