Conclusion
The finite-time bearing-only formation problem of first-order MASs under pinning control has been discussed in this study. Considering the situation of tracking moving formation in finite time, the validity of the pinning controller is verified by Lyapunov stability theory and numerical simulations. Besides, using the time-varying function with certain properties, a finite-time control mechanism is proposed for the preset formation stabilization time and the smooth bounded controller. Our results extend the finite-time bearing-only formation studies based on the timevarying function from stationary to tracking formation. In practice, MASs may be described by nonlinear dynamics and the communication topology may be directed. Thus, it will be investigated in future work.
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Acknowledgements
This work was supported in part by National Natural Science Foundation of China (Grant No. 62373071) and Natural Science Foundation of Chongqing, China (Grant No. CSTB2023NS CQ-LZX0075).
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Supporting information Appendixes A–F. The supporting information is available online at info.scichina.com and link.springer.com. The supporting materials are published as submitted, without typesetting or editing. The responsibility for scientific accuracy and content remains entirely with the authors.
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Liu, C., Zhu, W. & Sun, F. Finite-time bearing-only formation of first-order multi-agent systems under pinning control. Sci. China Inf. Sci. 67, 159203 (2024). https://doi.org/10.1007/s11432-023-3999-5
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DOI: https://doi.org/10.1007/s11432-023-3999-5