Adaptive stabilization of a leaderless bearing-constrained formation with disturbances
Abstract
In this paper, we consider the problem of regulating and maintaining a target formation characterized by a set of bidirectional bearing constraints under disturbances. The agents in the formation are modeled by single integrators with bounded continuous disturbances of which the upper bound is unavailable for the control design. Due to the time-varying disturbances, the target formation is time-varying. We propose adaptive sliding mode control laws to uniformly globally asymptotically stabilizes the moving target formation and reject the matched disturbances. In addition, to alleviate chattering phenomena from sliding mode control, smooth adaptive control laws are then designed to guarantee uniform global boundedness of the desired formation. Finally, simulation results are given to support the analysis.
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BibTeX
@misc{trinh2026adaptive,
title = {{Adaptive stabilization of a leaderless bearing-constrained formation with disturbances}},
author = {Minh Hoang Trinh and Chuong Van Nguyen and Quoc Van Tran and Tuynh Van Pham},
howpublished = {arXiv},
year = {2026},
month = sep,
doi = {10.48550/arxiv.2609.06355},
eprint = {2609.06355},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2609.06355},
note = {CC BY 4.0},
}
RIS
TY - UNPB
TI - Adaptive stabilization of a leaderless bearing-constrained formation with disturbances
AU - Minh Hoang Trinh
AU - Chuong Van Nguyen
AU - Quoc Van Tran
AU - Tuynh Van Pham
PY - 2026
DA - 2026/09/06
PB - arXiv
DO - 10.48550/arxiv.2609.06355
UR - https://arxiv.org/abs/2609.06355
AB - In this paper, we consider the problem of regulating and maintaining a target formation characterized by a set of bidirectional bearing constraints under disturbances. The agents in the formation are modeled by single integrators with bounded continuous disturbances of which the upper bound is unavailable for the control design. Due to the time-varying disturbances, the target formation is time-varying. We propose adaptive sliding mode control laws to uniformly globally asymptotically stabilizes the moving target formation and reject the matched disturbances. In addition, to alleviate chattering phenomena from sliding mode control, smooth adaptive control laws are then designed to guarantee uniform global boundedness of the desired formation. Finally, simulation results are given to support the analysis.
ER -