Finite-time bearing-only formation of first-order multi-agent systems under pinning control

The finite-time bearing-only formation problem of first-order MASs under pinning control has been discussed in this study. Considering the situation of tracking moving formation in finite time, the validity of the pinning controller is verified by Lyapunov stability theory and numerical simulations. Besides, using the time-varying function with certain properties, a finite-time control mechanism is proposed for the preset formation stabilization time and the smooth bounded controller. Our results extend the finite-time bearing-only formation studies based on the timevarying function from stationary to tracking formation. In practice, MASs may be described by nonlinear dynamics and the communication topology may be directed. Thus, it will be investigated in future work.