Bearing-only formation control for double integrators in a plane
Susmitha T Rayabagi, Debasattam Pal, Dwaipayan Mukherjee · IFAC-PapersOnLine · 2022
This paper studies the problem of bearing-only formation control for a group of agents modeled as double integrators. The control for each agent relies only on the relative bearings and relative bearing rates with its neighbors. Although such problems have been studied for undirected sensing graphs or within some leader-first-follower topologies with some additional sensing capabilities, it is still an open problem when the underlying sensing graph is directed and every agent can only sense bearing and bearing rates. In this paper a leader-first-follower (LFF) set up is considered where the leader is completely independent and the follower agents are assigned to control a fixed number of bearings with respect to their neighbors. Due to such assignment a directed sensing topology is obtained and bearing based Henneberg construction is used to realize such graphs. The spectrum of the bearing Laplacian for such underlying graphs with the LFF structure is studied and a bearing-only formation control law is proposed, whose local stability analysis is carried out around the desired equilibrium. Various simulation results are provided to illustrate that the desired formation shape is achieved.