2026-09-15T22:27:35Zhttps://gredos.usal.es/oai/request

oai:gredos.usal.es:10366/1349642025-05-28T11:48:23Zcom_10366_122575com_10366_4512com_10366_3823col_10366_134811

Han, Qing Li, Tiancheng Sun, Shudong Villarrubia González, Gabriel Prieta Pintado, Fernando de la 2015-06 A formation control method is proposed for multiple agents of “1” leader and “N” follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the “1-N” leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the “1-N” leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach. application/pdf http://hdl.handle.net/10366/134964 en Springer “1-N” Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation info:eu-repo/semantics/conferenceObject TEXT Gredos. Repositorio Documental de la Universidad de Salamanca Hispana