Angle-based formation stabilization and maneuvers in port-Hamiltonian form with bearing and velocity measurements

This paper proposes a port-Hamiltonian approach for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is designed using virtual couplings on the errors of angle constraints in angle space. Then, the angle constraints and agent actuators are mapped by the constraint Jacobian, which can be applied to other formation constraints. In addition, to avoid unavailable distance terms in the control law, an estimator is designed based on port-Hamiltonian theory and the property that energy is coordinate-free for different sensor modalities using bearing and velocity measurements, which permits our framework to inject damping for the formation maneuvers. Furthermore, the stability analysis for several maneuvers is provided. Simulations are performed to illustrate the effectiveness of the approach.