Flocking control and bearing-based formation control

This paper presents velocity consensus and bearing-based formation shape control of double-integrator modeled agents in an arbitrary dimension. The proposed control law is developed by combining the conventional consensus-based flocking control and bearing-based formation control. The equilibrium set is first investigated. We then show the instability of the undesired equilibrium set and locally exponential stability of the desired equilibrium set by using Lyapunov's indirect method and center manifold theory. Finally, simulation results are given to support the proposed control strategy.