This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is critically determined by the underlyi...
详细信息
This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is critically determined by the underlyi...
详细信息
This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is critically determined by the underlyi...
详细信息
This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is critically determined by the underlying graph of the network. A new notion termed generic bearing rigidity is defined for graphs. If the underlying graph of a network is generically bearing rigid, then the network is bearing rigid for almost all configurations;otherwise, the network is not bearing rigid for any configuration. As a result, the key to construct bearing rigid networks is to construct generically bearing rigid graphs. The main contribution of this paper is to prove that Laman graphs, which can be generated by the Henneberg construction, are generically bearing rigid in arbitrary dimensions. As a consequence, if the underlying graph of a network is Laman, the network is bearing rigid for almost all configurations in arbitrary dimensions.
In this paper, we consider that a group of four quad-rotors in three dimension is controlled by the formation control law. Formation control problems in three dimension have been of considerable interest in both the c...
详细信息
In this paper, we consider that a group of four quad-rotors in three dimension is controlled by the formation control law. Formation control problems in three dimension have been of considerable interest in both the control community and its applications. Also, the quad-rotor has received attention, because they can hover, vertically take-off and land. We use a formation control law in three dimension based on inter-agent distances. By the direct control of the Euclidean distance matrix of the group, we use the control law from the time derivative of the Euclidean distance matrix associated with the realization of the group. Assume that the initial and desired formation are not collinear, and the information graph is complete, then the desired formation of the group is globally asymptotically stable with all squared inter-agent errors exponentially converging to zero. Simulation results show the formation control of four quad-rotors in three dimension is stable, and it supports the control law.
暂无评论