{"ID":22973652,"CreatedAt":"2026-09-17T02:46:45.862280177Z","UpdatedAt":"2026-09-17T02:46:45.862280177Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.19106","arxiv_id":"2609.19106","title":"Leader-Follower Formation Control with Prescribed Convergence Rates under Bearing Persistence of Excitation","abstract":"This paper addresses leader-follower formation control using only relative bearing and velocity measurements. Bearing-based leader-follower control strategies commonly use fixed control gains, for which the guaranteed convergence rates explicitly depend on the persistence of excitation (PE) properties of the desired formations. We propose a time-varying matrix gain that evolves according to the bearing information available to each follower and decouples the convergence rate from the PE bound. We establish the well-posedness and uniform boundedness of the proposed gain for bearing-persistently exciting formations, and characterize the exponential convergence rate through a tunable design parameter. The proposed control design is further extended to leader-follower formations with double-integrator dynamics. Simulations illustrate the resulting convergence properties compared with fixed gain designs.","short_abstract":"This paper addresses leader-follower formation control using only relative bearing and velocity measurements. Bearing-based leader-follower control strategies commonly use fixed control gains, for which the guaranteed convergence rates explicitly depend on the persistence of excitation (PE) properties of the desired fo...","url_abs":"https://arxiv.org/abs/2609.19106","url_pdf":"https://arxiv.org/pdf/2609.19106v1","authors":"[\"Tarek Bouazza\",\"Zhiqi Tang\",\"Soulaimane Berkane\",\"Tarek Hamel\"]","published":"2026-09-16T17:36:10Z","proceeding":"eess.SY","tasks":"[\"eess.SY\"]","methods":"[]","has_code":false}