In this article, the finite-time cooperative control problem for leader-following bearing-defined formation tracking of multiagent systems with double-integrator dynamics is investigated. Different from the existing works on finite-time containment control, our objective is to make followers track leaders’ trajectories and form a shape-preserving formation rather than a convex hull. The target formation is defined by both leaders’ motions and bearing constraints among neighboring agents, which enables the formation not only to form and preserve a geometric pattern but also to have the ability to achieve both translational and scaling formation maneuver. To satisfy the bearing constraints, a matrix-weighted estimator/controller is developed. The finite-time stabilization of the target formation is achieved, though the matrix-weighted design makes the stability analysis complicated. Finally, an illustrative example is presented to demonstrate the effectiveness.

中文翻译：

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多个双积分器的轴承限定先导跟随形成的有限时间协同控制


在本文中，研究了具有双积分器动力学的多智能体系统的引导跟随方位定义编队跟踪的有限时间协作控制问题。与现有的有限时间遏制控制工作不同，我们的目标是让追随者跟踪领导者的轨迹并形成保形队形而不是凸包。目标编队由领导者的运动和相邻代理之间的方位约束来定义，这使得编队不仅能够形成并保持几何图案，而且能够实现平移和缩放编队机动。为了满足轴承约束，开发了矩阵加权估计器/控制器。虽然矩阵加权设计使稳定性分析变得复杂，但实现了目标编队的有限时间稳定。最后，给出一个说明性例子来证明其有效性。