Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization PROJECT TITLE :Bearing Rigidity and Almost Global Bearing-Only Formation StabilizationABSTRACT:A elementary problem that the bearing rigidity theory studies is to determine when a framework will be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. Whereas several previous works focused on the bearing rigidity of 2-dimensional frameworks, a first contribution of this paper is to extend these results to arbitrary dimensions. It is shown that a framework in an arbitrary dimension can be uniquely determined up to a translation and a scaling factor by the bearings if and only if the framework is infinitesimally bearing rigid. During this paper, the proposed bearing rigidity theory is additional applied to the bearing-only formation stabilization problem where the target formation is defined by inter-neighbor bearings and the feedback management uses solely bearing measurements. Nonlinear distributed bearing-solely formation management laws are proposed for the cases with and while not a world orientation. It is proved that the control laws will virtually globally stabilize infinitesimally bearing rigid formations. Numerical simulations are provided to support the analysis. Did you like this research project? To get this research project Guidelines, Training and Code... Click Here facebook twitter google+ linkedin stumble pinterest Explicit Reference Governor for Constrained Nonlinear Systems Non-Minimal Order Model of Mechanical Systems With Redundant Constraints for Simulations and Controls
