Leader-Follower Bearing-based Formation System with Exogenous Disturbance

This paper presents the leader-follower bearing-based formation system under the bearing-only formation controller in the presence of the exogenous disturbance. Under the assumption that each agent has access to a common global coordinate frame, we consider this problem for an undirected formation topology in an arbitrary dimensional space. The main contribution of this work is the first robust stability analysis on the bearing-based formation system. Based on the Lyapunov approach, we show the global exponential ultimate boundedness of the formation error for the bounded exogenous disturbance. Numerical simulation example validates the theoretical results.