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Bearing Measurement Based Formation Maneuver Control

In this paper, bearing rigidity theory, Routh-Hurwitz stability theory and Lyapunov stability theory are used to study the bearing measurement based formation maneuver control. Two leaders are set up in the formation and different control laws are designed for the second leader and followers respectively, and the global formation stability is also analyzed. In the target formation, the followers are constrained by bearings, and the leaders are constrained by bearing and distance. The formation scaling and rotation maneuverings can be achieved by adjusting the distance constraint and bearing constraint between two leaders respectively. In the whole formation control process, wireless communication is not required. The control laws only rely on the bearings, speed measurements of agents and the distance measurement between two leaders. Finally, some simulations are provided to verify our analysis.