Bearing-based formation control of networked robotic systems with parametric uncertainties

In this paper, the distributed bearing-based formation control problem for networked robotic systems with parametric uncertainties is investigated. Firstly, under the consideration that the task-space velocity is measurable, a reference control input is designed to achieve a bearing constrained target formation. For the unmeasurable task-space velocity case, an observer-based reference velocity scheme is proposed and only the local relative task-space position measurement is needed to achieve globally bearing-based formation stabilization. By designing a velocity feedback in proportional-integral reference velocity control scheme, at least two leaders can handle the leader-follower formation tracking problem, in which the followers do not need any global information. Finally, some simulation results are provided to demonstrate the effectiveness of the proposed control laws. (C) 2018 Elsevier B.V. All rights reserved.