This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each followers can measure the relative positions of its neighbors, its own velocities, and receive information from their neighbors. Under the assumptions that the desired formation is infinitesimally bearing rigid and the local reference frames of followers are aligned with each other, two control laws are presented in this paper based on sliding mode control approach. Stability analyses are given based on Lyapunov stability theory and supported by numerical simulations.

翻译：本文研究了基于时间变化的对领导追随者队形的轴承跟踪。 轴承矢量对各种物剂之间的预期限制做了具体规定, 数位领导人正在以封闭的参考速度移动。 每个追随者可以测量其邻居的相对位置、 自己的速度, 并从邻居那里获得信息 。 根据理想的构造具有极小的刻板性, 以及追随者的地方参照框架彼此一致的假设, 本文根据滑动模式控制方法提出了两项控制法。 稳定分析是根据Lyapunov稳定性理论进行的,并得到数字模拟的支持 。