Decentralized sliding-mode control laws for the bearing-based formation tracking problem

  title={Decentralized sliding-mode control laws for the bearing-based formation tracking problem},
  author={Dung Van Vu and Minh Hoang Trinh},
  journal={2021 International Conference on Control, Automation and Information Sciences (ICCAIS)},
  • Dung Van Vu, M. Trinh
  • Published 11 October 2021
  • Computer Science, Mathematics
  • 2021 International Conference on Control, Automation and Information Sciences (ICCAIS)
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each followers can measure the relative positions of its neighbors, its own velocities, and receive information from their neighbors. Under the assumptions that the desired formation is infinitesimally bearing rigid and the local reference frames of followers are… 

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