FTISS Adaptive Bearing-Only Formation Tracking Control with Unknown Disturbance Rejection

TL;DR

This paper introduces a finite-time bearing-only formation control law that effectively rejects unknown disturbances using only local measurements, without requiring global frames or disturbance info, and guarantees finite-time convergence.

Contribution

It presents a novel FTISS bearing-only control law that handles unknown disturbances and does not need global coordinate frames or disturbance knowledge.

Findings

Guarantees finite-time convergence to formation errors

Works with stationary and moving leaders

Validated through simulations and experiments

Abstract

This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the availability of a global coordinate frame and some information about the disturbances, our approach requires only local bearing vector measurements and does not necessitate the alignment of agent coordinate frames. The proposed control law guarantees that formation control errors converge to a neighborhood of zero in finite time, and subsequently converge to zero asymptotically. We first address the scenario where leaders are stationary and then extend the results to leaders moving with a constant velocity. Simulation and experimental results are presented to validate the effectiveness of the proposed control law.