Bearing-based Formation Control of Multi-agents with Dual-leaders Structure

In this paper, bearing rigidity theory and Routh-Hurwitz stability theory are used to analyze the formation maneuvering of the multi-agent system with dual leaders structure. Different control laws are designed for the second leader and followers respectively and the global formation stability is analyzed. The control law of the followers is distributed because it only needs neighbor information. In the target formation, followers are subjected to bearing constraints while leaders are subjected to bearing and distance constraints. The formation scaling maneuvering can be achieved by adjusting the distance constraint, and the control of the formation's orientation and rotation can be achieved by adjusting the bearing constraint between two leaders. Finally, some simulation results are provided to verify our analysis.