Maximum Hands-Off Distributed Bearing-Based Formation Control
Takuya Ikeda, Daniel Zelazo, Kenji Kashima · 2019
This paper investigates a distributed bearing-constrained formation control of continuous-time multi-agent systems based on sampled bearing information. The problem is considered in arbitrary dimensional spaces. Our proposed method penalizes the control effort by L0control cost, and hence the obtained distributed control is enhanced to take exactly zero value. Such a control is called maximum hands-off control. The proposed method tracks a distributed control for an associated discrete-time multi-agent system. Hence, we also newly characterize a bearing-constrained formation for discrete-time one. The analysis relies on the recently developed bearing rigidity theory. With the results, we show the feasibility, closed form, and stability of the proposed control.