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Fuzzy adaptive formation control for a class of nonlinear systems with bearing-only measurements

In this paper, the adaptive formation control problem for a class of nonlinear systems with unmodeled dynamics and external disturbances is considered, where the positions between the relative agents cannot be measured and only the relative bearings information can be measured. Firstly, the radial basis function fuzzy logic system is introduced to approximate the unknown nonlinear function, and the adaptive estimation is used to offset the approximation errors and the unknown external disturbances. Furthermore, the bearing-only formation control strategy is designed by using the potential function method, thus the global stability of the overall fuzzy formation system can be proved with the Barbalat's Lemma. At the end of the article, the effectiveness of adaptive bearing-only formation control algorithm based on potential field method is verified by simulations.