<p>This paper investigates the bearing-based formation control problem of double-integrator agents, where the velocities of the leaders are time-varying. Unlike existing methods where followers need to obtain the velocities of the leaders, the time-varying velocities of the leaders are unknown to all followers in this paper. Using the relative bearings among neighbor agents and the derivatives of these relative bearings, a bearing-based formation control law for followers is proposed. The control law design only relies on the maximum of the upper bounds of the leaders’ accelerations, which achieves the desired geometric configuration of the target formation. The stability of the multi-agent system is proved using Lyapunov’s theorem. The numerical simulation results validate the effectiveness of the proposed control law.</p>