Mayank Sewlia, Daniel Zelazo

Bearing‐based formation stabilization using event‐triggered control

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Aerospace Engineering
  • Biomedical Engineering
  • General Chemical Engineering
  • Control and Systems Engineering

AbstractThis article studies two distributed bearing‐based event‐triggered schemes to achieve formation stabilization. We focus on systems with double‐integrator dynamics with bearings sensing capabilities. Firstly, we propose a bearing‐only event‐triggered condition (ETC) that is edge‐dependent which drives the control updates of the agents using only information dependent on relative sensed quantities. Secondly, along with bearing measurements we make use of local agent state measurements to arrive at an ETC that uses this collective measurement to drive the sensing and control updates of an agent. In doing so, we propose a new control law that renders the final formation stationary. Simulations are provided to verify the validity of the proposed algorithms.

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