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Updated: May 3, 2026

Operation of the Collaborative Composite Manufacturing CCM System
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Published on: October 1, 2019

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Prescribed-time bearing-based time-varying formation control for multi-agent system.

Yong Chen1, Bowen Hao1, Fuxi Niu1

  • 1The School of Automation, Central South University, Changsha, 410004, China.

ISA Transactions
|May 1, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a novel control strategy for multi-agent systems to achieve formation tracking in a set time. The method uses bearing information for precise coordination, validated by simulations and UAV experiments.

Keywords:
Bearing-based formation trackingCooperative distributed controlPrescribed-time formation controlTime-varying velocity estimation

Related Experiment Videos

Last Updated: May 3, 2026

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10:09

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Published on: October 1, 2019

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Distributed Systems

Background:

  • Multi-agent systems require coordinated movement for tasks.
  • Achieving formation control with limited sensing (bearing only) is challenging.
  • Prescribed-time control offers guaranteed convergence within a user-defined timeframe.

Purpose of the Study:

  • To develop a prescribed-time bearing-based control law for multi-agent formation tracking.
  • To enable followers to estimate leader inputs and achieve desired formations using only bearing information.
  • To demonstrate convergence and practical feasibility through analysis and experiments.

Main Methods:

  • A two-stage control strategy involving a prescribed-time observer and a bearing-based controller.
  • Utilizing bearing-only measurements and communication between neighboring agents.
  • Lyapunov analysis to prove convergence within the prescribed time.

Main Results:

  • The proposed control law successfully achieves formation tracking in a prescribed time for first-order systems.
  • Velocity coordination with leaders is achieved for second-order systems.
  • Independent assignment of prescribed times for control stages is possible.

Conclusions:

  • The developed bearing-based control law provides a robust solution for prescribed-time formation tracking in multi-agent systems.
  • The method is effective for systems with time-varying leader velocities.
  • Simulations and UAV swarm experiments confirm the practical feasibility and effectiveness of the approach.