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Bearing-based formation stabilization using event-triggered control
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-6177-2141
Faculty of Aerospace Engineering, Technion-Israel Institute of Technology, Haifa, Israel.ORCID iD: 0000-0002-2931-245X
2024 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 34, no 6, p. 4375-4387Article in journal (Refereed) Published
Abstract [en]

This 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.

Place, publisher, year, edition, pages
Wiley , 2024. Vol. 34, no 6, p. 4375-4387
Keywords [en]
event-triggered control, formation control, multi-agent system
National Category
Control Engineering Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-367082DOI: 10.1002/rnc.7185ISI: 001137129700001Scopus ID: 2-s2.0-85181527199OAI: oai:DiVA.org:kth-367082DiVA, id: diva2:1984151
Note

QC 20250715

Available from: 2025-07-15 Created: 2025-07-15 Last updated: 2025-07-15Bibliographically approved

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Sewlia, Mayank

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CiteExportLink to record
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  • apa
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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Output format
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  • text
  • asciidoc
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