Related papers: Bearing-Constrained Leader-Follower Formation of S…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This paper considers the problem of the bearing-based formation control with disturbance rejection for a group of agents under the leader-follower structure. The disturbances are in the form of a trigonometric polynomial with arbitrary…
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. Using only bearing and relative velocity measurements,…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where…
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…