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Prescribed-time bearing-based time-varying formation control for multi-agent system
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DOI：10.1016/j.isatra.2026.04.036.png)
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Abstract
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• This manuscript considers multi-agent systems with time-varying velocity leaders that implement bearing-based time-varying formation tracking. • The controllers corresponding to the first-order and second-order integral systems are designed, respectively, and the convergence of the systems is realized. • The problem of prescribed-time convergence of bearing-based time-varying velocity-based formations is solved by means of an observer with a bearing-only controller. • A comparative numerical simulation with a UAV experiment was performed.
Keywords:
multi-agent systems
bearing-based formation control
time-varying velocity
prescribed-time convergence
observer-based control
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