Bearing-Only Formation Tracking Control for Multi-Agent Systems With Time-Varying Velocity Leaders

This letter studies the bearing-only formation tracking control problem for multi-agent systems in which the target formation moves with a time-varying reference velocity. We consider both single-integrator and double-integrator models and propose two control laws for them that can achieve this formation tracking control using only bearing measurements, without any other measurements or communication between agents. Moreover, these two control laws can be extended to deal with the system with bounded disturbances. The convergence of the systems under these two control methods is proven by rigorous mathematical derivations and simultaneously validated by numerical simulations.