Distributed Bearing-based Formation Control and Network Localization with Exogenous Disturbances

TL;DR

This paper develops a robust stability analysis framework for bearing-based formation control and network localization systems that accounts for exogenous disturbances, providing explicit error bounds for system design.

Contribution

It introduces a generalized analysis method for systems with disturbances and computes explicit error bounds, advancing the robustness and reliability of formation control and localization.

Findings

Robust stability analysis in the presence of disturbances

Explicit upper-bound error sets for system design

Applicable to arbitrary dimensional spaces

Abstract

This paper presents a generalized robust stability analysis for bearing-based formation control and network localization systems. For an undirected network, we provide a robust stability analysis in the presence of time-varying exogenous disturbances in arbitrary dimensional space. In addition, we compute the explicit upper-bound set of the bearing formation and network localization errors, which provides valuable information for a system design.