Distributed Adaptive Control Laws in Bearing-Based Formation Control Systems

In this study, we propose distributed adaptive control laws for bearing-based formation control systems, where the control gain is dynamically adjusted based on the bearing formation error. Unlike conventional control approaches that do not explicitly design the control gain or use a constant gain, our proposed adaptive control laws enable dynamic gain adaptation based on real-time bearing formation errors. Therefore, we can expect a rapid reduction of formation errors while minimizing unnecessary control efforts in a steady state. Also, we conduct a rigorous Lyapunov analysis to prove the stability of the proposed adaptive control laws. Numerical simulation examples will be provided to analyze the performance of the adaptive control laws, demonstrating fast convergence and formation stabilization.