Adaptive bearing-based formation for multiagent systems with unknown disturbances

This paper studies robust formation tracking problem for bearing-based control of multiagent systems with unknown disturbances, where each agent’s control relies solely on the relative bearing and local velocity. Existing studies mainly address external disturbances by incorporating relative position and velocity information, or rely on neighboring communication to estimate agent’s disturbances. In this paper, by incorporating local velocity with neighborhood bearing errors, an integral sliding manifold is designed to decouple agent’s disturbances from neighborhood bearing structure. With the aid of adaptive integral sliding mode (ISM) control, a novel adaptive bearing-velocity formation (ABVF) controller is developed to dispel the adverse effects of unknown external disturbances, and we further explore ABVF with ISM or super-twisting ISM to address different assumptions about external disturbances. Sufficient conditions for guaranteeing the stability of the proposed ABVF are provided. And numerical simulations are conducted to illustrate the efficiency of the proposed control laws.