Finite-time bearing-only formation control
Minh Hoang Trinh, Dwaipayan Mukherjee, Daniel Zelazo, Hyo‐Sung Ahn · 2017
This paper presents two bearing-only control laws that guarantee almost global convergence of the desired formation in finite time. For each control law, the equilibrium set is firstly studied. Then, we provide rigorous analysis on asymptotic convergence as well as finite time convergence of the system to the desired equilibrium. Finally, numerical simulations are provided to validate our analysis.