Finite-Time Cooperative Control for Bearing-Defined Leader-Following Formation of Multiple Double-Integrators

Abstract

In this article, the finite-time cooperative control problem for leader-following bearing-defined formation tracking of multiagent systems with double-integrator dynamics is investigated. Different from the existing works on finite-time containment control, our objective is to make followers track leaders' trajectories and form a shape-preserving formation rather than a convex hull. The target formation is defined by both leaders' motions and bearing constraints among neighboring agents, which enables the formation not only to form and preserve a geometric pattern but also to have the ability to achieve both translational and scaling formation maneuver. To satisfy the bearing constraints, a matrix-weighted estimator/controller is developed. The finite-time stabilization of the target formation is achieved, though the matrix-weighted design makes the stability analysis complicated. Finally, an illustrative example is presented to demonstrate the effectiveness.