A Leader-following Formation Control Bearing-Based Approach

In this paper, bearing rigidity theory and Routh-Hurwitz stability criterion are used to study leader-following formation maneuver. The target formation is constrained by inter-neighbor bearings. Due to the invariance of bearings, control of first-leader can achieve translational formation control and changing the relative position constraint between first leader and second leader can achieve scaling formation control. Considering the practical use of a multi-agent system, we adopt a realistic model for followers which differs from the conventional single-integrator or double-integrator model. A control law for second leader and distributed control laws for followers are proposed and the global formation stability is analyzed. Numerical simulations are presented to support the theoretical results.