Formation control of double integrators over directed graphs using bearings and bearing rates
Susmitha T Rayabagi, Debasattam Pal, Dwaipayan Mukherjee · 2024
Bearing-only formation control problem for agents over directed graphs, due to the loss of symmetry in the sensing graph, has been explored sparingly in comparison to the undirected counterpart. The few existing results mainly consider single intergrator agents that achieve stationary formations. This paper studies the problem of bearing-only formation control for double integrator agents under a leader-first follower (LFF) structure where the underlying graph is directed acyclic in nature. We characterize the equilibrium points under our proposed control law and present local stability analysis around them. We further show that scale of the formation can be controlled purely through bearings by considering the leader’s physical dimensions to be non-trivial.