Maximum Hands-Off Distributed Bearing-Based Formation Control

This paper investigates a distributed bearing constrained formation control of continuous-time multi-agent systems based on sampled bearing information. The problem is considered in arbitrary dimensional spaces. Our proposed method penalizes the control effort by L-0 control cost, and hence the obtained distributed control is enhanced to take exactly zero value. Such a control is called maximum handsoff control. The proposed method tracks a distributed control for an associated discrete-time multi-agent system. Hence, we also newly characterize a bearing-constrained formation for discrete -time one. The analysis relies on the recently developed bearing rigidity theory. With the results, we show the feasibility, closed form, and stability of the proposed control.