This article studies the bearing-based formation tracking control problem of multiple double-integrator agents. A leader-following structure, where leader moves with reference dynamics, is adopted. Different from existing methods, which require complete information time-varying velocity, in this article, only orientation known by part followers and amplitude velocity unknown. To solve problem, proposes a velocity-estimation-based scheme, consists an estimator for estimating varying rate...

This paper formulates a class of generic optimal formation control problems for second-order multiagent systems, where agents are steered to achieve the determined by convex optimization problem with constraints and admissible range constraints. These determine geometric pattern limit formation, respectively. A algorithm based on primal-dual dynamics is proposed various requirements. Based Lyapunov stability theories, states system shown converge solutions. Moreover, an obstacle avoidance...

This article investigates the control problem of bearing-based formation tracking for underactuated autonomous underwater vehicles (AUVs) considering actuator constraints and unknown disturbances. A leader-follower structure is adopted, where leaders move with an reference velocity. For followers, integrated strategy proposed, which includes i) a method composed velocity estimator, virtual achieving desired formation, adaptive robust controller to track under disturbances; ii) parameter...

In this paper, we study the bearing-based formation maneuver control problem of leader-follower multi-agent system. The objectives are achieving rotation, translation, and scaling maneuvers with a transformable shape. Unlike existing works where target is defined by displacements, distances, or constant bearings, propose novel time-varying bearings. feasibility uniqueness analyzed extending properties bearing rigidity to cases. Compared methods positions velocities all agents required, an...

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure used, where the leaders move predesigned trajectories, and followers are steered by an estimation-based method, integrating a distance estimator using bearing measurements stress matrix-based formation controller. The signum functions used to compensate for uncertainties so that...

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure used, where the leaders move predesigned trajectories, and followers are steered by an estimation-based method, integrating a distance estimator using bearing measurements stress matrix-based formation controller. The signum functions used to compensate for uncertainties so that...

In this paper, the problem of bearing-only formation tracking control multiple nonholonomic agents is studied. A leader-follower structure adopted, where leaders are moving at an unknown constant linear velocity and time-varying orientation. To solve using measurements, a finite-time estimator firstly proposed to estimate leaders' orientation information. Then, adaptation law for estimating proposed, based on which inputs in predefined bearing-based designed, so that can be achieved...