Bearing-Only Formation Control With Bounded Disturbances in Agents' Local Coordinate Frames.

This letter studies formation control using bearing-only measurements for elevation angle rigid configurations in the presence of time-varying bounded disturbances. Elevation angle rigidity-based control laws ensure bearing-only formation control in agents' local frame of reference sans any orientation synchronization or orientation estimation algorithms. However, existing control laws do not account for bounded disturbances in the agents' dynamics. Motivated by this, we design bearing-only control laws for single integrators in agents' frames of reference and prove local finite-time convergence to the desired formation. Then control laws for double integrators are proposed, and local asymptotic stability is proved when agents' accelerations are affected by bounded disturbances. Simulations are provided to validate the claims.