Bearing-based formation stabilization using event-triggered control

Mayank Sewlia, Daniel Zelazo

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This article studies two distributed bearing-based event-triggered schemes to achieve formation stabilization. We focus on systems with double-integrator dynamics with bearings sensing capabilities. Firstly, we propose a bearing-only event-triggered condition (ETC) that is edge-dependent which drives the control updates of the agents using only information dependent on relative sensed quantities. Secondly, along with bearing measurements we make use of local agent state measurements to arrive at an ETC that uses this collective measurement to drive the sensing and control updates of an agent. In doing so, we propose a new control law that renders the final formation stationary. Simulations are provided to verify the validity of the proposed algorithms.

Original languageEnglish
JournalInternational Journal of Robust and Nonlinear Control
StateAccepted/In press - 2024


  • event-triggered control
  • formation control
  • multi-agent system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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