Bearing-based formation tracking control within appointed convergence time

Among the brief, the bearing-based rigid formation tracking control for multi-agent system within an appointed settling time has been researched thoroughly, where the communication topology is undirected and the dynamics equation for each agent are modeled as a first-order integrator. Firstly, according to the relevant knowledge of optimal control, a distributed controller is designed for each follower to form a target configuration at an appointed time. Then, the global convergence of the designed controller is strictly proved through the convergence analysis of each sampling time and each sampling interval. It is worth noting that this appointed time is arbitrary, and the initial states of several leaders can uniquely determine the target configuration. Finally, the rationality of the constructed controller is demonstrated through a numerical simulation.