Bearing-Based Formation Tracking Control with Prespecified Convergence Time
Xiang Li, Jing Lü, Xiong Zhao · 2021 China Automation Congress (CAC) · 2021
This article proposes a formation cooperation control strategy that is based on bearing for a first-order multi-agent system. For this multi-agent system, our control goal is to achieve a desired target formation shape, which each agent only need to obtain the relative orientation and position of its neighbors. In this paper, we can find that it is different from considerable existing works, which achieve global asymptotic stability, that is, expect formations to be formed only in an infinite period of time, the control law proposed can reach the desired target formation shape within the time selected by the user and can also ensure exponential convergence within the selected time simultaneously. In addition, in this paper, analysis on convergence of formation of the system studied is also guaranteed by the Lyapunov theory. Finally, the effectiveness of the proposed approach is verified by us by presenting two numerical simulation examples.