Bearing-based formation control of second-order multiagent systems with bounded disturbances

This article investigates the bearing-based formation control problem for second-order multiagent systems (SMS) in the presence of the bounded disturbances in their models. The main contributions of this article are listed as follows: (1) We extend the bearing formation control to SMS. (2) We propose two novel robust distributed bearing formation control laws. In the first control law, the bearing measurement in the global inertial frame is required. This control law guarantees that the inter-agent bearings converge to the desired bearings. The second control law requires obtaining the local bearing measurements and relative orientation measurements. This control law guarantees that the inter-agent bearings converge to the desired bearings and the orientation of each agent converges to a common orientation. Some simulations are conducted, and simulation results verify the effectiveness of the proposed control laws.