2025/08/13 by Cheng, Haoshu, Guay, Martin, Wang, Shimin +1
#FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #FOS: Physical sciences #Mathematical Physics (math-ph) #Optimization and Control (math.OC) #Pattern Formation and Solitons (nlin.PS) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2508.09908
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example.