Adaptive Disturbance Rejection of Bearing-Based Formation for General Linear Multi-Agent Systems

The existing bearing-based formation control hasmainly focused on multiple integrator systems. The main reasonis that the existing methods use Routh's criterion to determinevarious control gains, which is only effective for low orderintegrator systems. In this paper, we further study the bearingbasedformation control for a large class of linear multi-agentsystems. By leveraging the solution of a particular Riccati equation,we manage to find a distributed bearing-based control lawto achieve the bearing-based formation. Moreover, we introducean adaptive bearing-based control technique to deal with thedisturbance rejection problem for bounded disturbances withunknown bounds. Instead of resorting to Routh's criterion, weapply rigorous Lyapunov analysis to guarantee the closed-loopstability. Finally, the effectiveness of the proposed approach isverified through the formation control of a group of quadrotors.