Bearing-based localization of multi-agent system with event-triggered strategy
HU Bin-bin
ZHANG Hai-tao
Abstract：This paper develops an event-based scheme to attain bearing-based localization of multi-agent system in arbitrary dimension. Essentially, an event-triggered localization law is designed accordingly to the bearing rigidity, which is to localize all the agents in a static network given the bearings of a subset of agents. The conditions guaranteeing asymptotically stability of the closed-loop MAS governed by the proposed controller are derived with the assistance of input-to-state stable (ISS) principle. Significantly, Zeno behavior is excluded as well. Finally, 2-D and 3-D numerical simulations are conducted to substantiate the effectiveness of the proposed event-triggered localization control scheme.
Keywords：localizationbearing rigidityevent-triggered controlmulti-agent system
Publication Date：2021-11-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1845-1854 )