摘要：AbstractThis paper proposes a bearing-only based control law to stabilize leader-first follower formations consisting of single-integrator modeled agents. For leader-first follower formations, under the proposed control law, theN-agents formation is proved to be almost globally asymptotically stable and locally exponentially stable in Rd. Collision avoidance between the agents in the formation is also analyzed.
关键词：Keywordsformation controlbearing-only measurementsleader-first followercascade systems
