Bearing-Based Prescribed Time Formation Tracking for Second-Order Multi-Agent Systems

This brief studies a bearing-based formation tracking control problem that the leaders move at a constant speed for a second-order multi-agent system. We propose a novel control law to achieve formation tracking control for multiple motion agents in a prescribed time. The convergence time can be selected by the user because the control input is based on a scaling gain and the differentiation of the control input is also continuous. Collision avoidance, as an essential problem of multi-agent in actual formation control, is also studied in this brief. Finally, numerical simulation experiments verify the effectiveness of our proposed algorithm.