Bearing-Only Formation Tracking Control of Multi-Agent Systems With Local Reference Frames and Constant-Velocity Leaders

Abstract

In this letter, the bearing-only formation tracking control problem of multi-agent systems modeled as double-integrators in local reference frames is investigated. The sensing topology among all agents is described by a multiply rooted undirected graph and the autonomous leaders associated with a common reference frame move with a constant velocity. The proposed control law for each follower depends merely on the relative bearings and relative orientations to its neighbors in its local reference frame. The orientation synchronization problem is first solved so that all orientations of the followers converge to that of the leaders. Then, a bearing-only controller is developed to achieve the desired moving formation. Finally, an example illustrates the effectiveness.