论文标题
在激发持续性下，仅轴承形成控制
Bearing-only formation control under persistence of excitation
论文作者
论文摘要
本文通过探索所需轴承参考的激发（PE）的持久性（PE）来解决$ d〜（d \ geq 2）$ d〜（d \ geq 2）中仅轴承形成控制的问题。通过定义带有PE的所需形成，提出了仅分布式轴承的控制定律，该定律保证了所需的形成的指数稳定，仅到翻译向量。这种方法的主要结果依赖于利用轴承PE来显着放松图形拓扑上施加的条件，以确保与轴承刚度条件相比，确保指数稳定，并消除通过轴承向量引入的比例歧义。提供仿真结果以说明所提出的控制方法的性能。
This paper addresses the problem of bearing-only formation control in $d~(d\geq 2)$-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE, distributed bearing-only control laws are proposed, which guarantee exponential stabilization of the desired formation only up to a translation vector. The key outcome of this approach relies in exploiting the bearing PE to significantly relax the conditions imposed on the graph topology to ensure exponential stabilization, when compared to the bearing rigidity conditions, and to remove the scale ambiguity introduced by bearing vectors. Simulation results are provided to illustrate the performance of the proposed control method.
