Finite-time bearing-based maneuver of acyclic leader-follower formations

Abstract

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 agents in the formation. The first control law uses only bearing vectors, and finite-time convergence is achieved by properly selecting two state-dependent control gains. The second control law requires both bearing vectors and communications between agents. Each agent simultaneously localizes and follows a virtual target. Finite-time convergence of the desired formation under both control laws is proved by mathematical induction and supported by numerical simulations. 10.1109/LCSYS.2021.3088299

Extended version of the L-CSS paper with omitted proofs and corrections

References in corpus (2)

• Interaction Ruling Animal Collective Behaviour Depends on Topological rather than Metric Distance: Evidence from a Field Study
• Hierarchical group dynamics in pigeon flocks

Cited by in corpus (1)

• Bearing-Constrained Leader-Follower Formation of Single-Integrators with Disturbance Rejection: Adaptive Variable-Structure Approaches