Bearing-based formation control of networked robotic systems with parametric uncertainties

In this paper, the distributed bearing-based formation control problem for networked robotic systems with parametric uncertainties is investigated. Firstly, under the consideration that the task-space velocity is measurable, a reference control input is designed to achieve a bearing constrained target formation. For the unmeasurable task-space velocity case, an observer-based reference velocity scheme is proposed and only the local relative task-space position measurement is needed to achieve globally bearing-based formation stabilization. By designing a velocity feedback in proportional-integral reference velocity control scheme, at least two leaders can handle the leader-follower formation tracking problem, in which the followers do not need any global information. Finally, some simulation results are provided to demonstrate the effectiveness of the proposed control laws.