Bearing-based Formation Control for Single-Integrator Agents with Unknown Leaders’ Velocity

This paper investigates the bearing-based formation control problem of single-integrator agents, where the leaders have a time-varying velocity. Different from traditional bearing-based formation control methods where followers need to acquire the velocity of the leaders, the time-varying velocity of the leaders is unknown to all followers in this paper. Relying on the upper bound of the leaders’ velocity, this paper proposes a bearing-based formation control algorithm for the single-integrator followers, achieving the desired geometric configuration of the target formation. The stability of the multi-agent system is proved using Lyapunov’s theorem, and the effectiveness of the proposed control law is verified by numerical simulation results.