A Bearing-Based Control Law for Trajectory Tracking

We consider the problem of tracking a desired trajectory using bearing-only information from stationary landmarks. We propose a control law that combines a gradient descent feedback with a velocity feedforward. These two terms are calculated solely by using the bearings, their time derivatives, and the knowledge of the dynamical model. Under some technical assumptions our controller shows global convergence. We analyze the limitations associated with this control law, and provide methods to bypass most of these limitations. Finally, we verify our controller through simulation.