Relaxed bearing rigidity and bearing formation control under persistence of excitation

This paper addresses the problem of time-varying bearing formation control in d ( ? 2 ) -dimensional Euclidean space by exploring Persistence Excitation (PE) desired reference. A general concept Bearing Persistently Exciting (BPE) defined is here fully developed. By providing a that BPE, distributed laws for multi-agent systems under both single- and double-integrator dynamics are proposed using measurements (along with velocity when agents described dynamics), which guarantee uniform exponential stabilization up to translation. key contribution this work show classical rigidity condition on graph topology, required achieving translation scale factor, relaxed extended natural manner PE conditions imposed either specific set vectors or whole formation. Simulation results provided illustrate performance method.