Abstract
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example.
Abstract (translated)
在这篇论文中，我们研究了在存在多个移动领导者的异构欧拉-拉格朗日系统参数不确定性背景下，基于方位角的队形跟踪问题。为了估计领导者的速度和加速度，我们首先为领导者的系统设计了一个分布式观测器，利用基于方位角定位条件来替代传统的连通性假设。通过结合自适应机制，该观测器能够合成一种新的分布式控制律，引导队形向目标队形移动，并且不需要预先了解系统的参数信息。此外，我们建立了一个依赖于初始队形配置的充分条件，以确保在整个队形演化过程中避免碰撞。本文提出的方法的有效性通过一个数值例子得到了展示。
URL
https://arxiv.org/abs/2508.09908
