Formation Control of Coupled Harmonic Oscillators Based on Bearing-Measurement

This article examines formation control issue of coupled harmonic oscillators by using bearing-measurement among agents. Two control protocols are proposed for followers under the case without disturbance and the case with the bounded disturbance to achieve the desired formation pattern. Then, by algebraic graph theory and matrix theory, we present some conditions on bearing network structure to ensure the convergence of both followers and leaders towards the desired formation pattern. Lastly, numerical simulations are performed to validate the findings presented in this study.