{"id":"https://openalex.org/W7123356802","doi":"https://doi.org/10.1109/cdc57313.2025.11312911","title":"Data-Driven Bearing-Based Formation Control via Internal Model Design","display_name":"Data-Driven Bearing-Based Formation Control via Internal Model Design","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123356802","doi":"https://doi.org/10.1109/cdc57313.2025.11312911"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11312911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122850982","display_name":"Yifei Li","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifei Li","raw_affiliation_strings":["Beijing Institute of Technology,State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115604994","display_name":"Wenjie Liu","orcid":"https://orcid.org/0009-0005-9080-9923"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenjie Liu","raw_affiliation_strings":["Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052083635","display_name":"Xiaodong Fang","orcid":"https://orcid.org/0000-0001-7061-3337"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Fang","raw_affiliation_strings":["Dalian University of Technology,Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education,Dalian,China,116024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122869871","display_name":"Gang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["Beijing Institute of Technology,State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122854246","display_name":"Lihua Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122877735","display_name":"Jian Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Sun","raw_affiliation_strings":["Beijing Institute of Technology,State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,State Key Lab of Autonomous Intelligent Unmanned Systems,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63361025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2305","last_page":"2310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.8259000182151794,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.8259000182151794,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.04089999943971634,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.018200000748038292,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8398000001907349},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.5860999822616577},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5841000080108643},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5047000050544739},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4706000089645386},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4657000005245209},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.45989999175071716},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45249998569488525}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8398000001907349},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.5860999822616577},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5841000080108643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5077999830245972},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4706000089645386},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4657000005245209},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.45989999175071716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4596000015735626},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45249998569488525},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4334000051021576},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3546000123023987},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3212999999523163},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.32109999656677246},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.2962000072002411},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29159998893737793},{"id":"https://openalex.org/C204322392","wikidata":"https://www.wikidata.org/wiki/Q925922","display_name":"Full state feedback","level":3,"score":0.28540000319480896},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.273499995470047},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.2556999921798706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11312911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Bearing-based":[0],"formation":[1,90,126],"control":[2],"aims":[3],"to":[4,28,33,72],"achieve":[5],"a":[6,49,74,95,104,119],"desired":[7,125],"geometric":[8],"configuration":[9],"through":[10],"prescribed":[11],"bearing":[12],"constraints":[13],"among":[14],"interconnected":[15],"agents.":[16],"Although":[17],"extensively":[18],"studied":[19],"in":[20],"integrator-based":[21],"systems":[22,31],"under":[23],"idealized":[24],"assumptions,":[25],"its":[26],"application":[27],"multi-leader":[29],"multi-follower":[30],"subject":[32],"external":[34],"disturbances":[35],"and":[36,76,86,127],"unknown":[37],"dynamics":[38],"remains":[39],"largely":[40],"unexplored.":[41],"This":[42],"paper":[43],"addresses":[44],"this":[45],"gap":[46],"by":[47,65],"presenting":[48],"data-driven":[50],"state":[51,84],"feedback":[52],"controller":[53,121],"based":[54],"on":[55],"the":[56,82,89,124,133,136],"internal":[57],"model":[58],"principle.":[59],"The":[60],"leaders\u2019":[61,83],"positions":[62],"are":[63],"generated":[64],"linear":[66],"autonomous":[67],"systems,":[68],"allowing":[69],"each":[70,113],"leader":[71],"have":[73],"distinct":[75],"time-varying":[77],"velocity.":[78],"By":[79],"incorporating":[80],"both":[81],"signal":[85],"disturbance":[87],"signal,":[88],"task":[91],"is":[92,109],"reformulated":[93],"as":[94],"cooperative":[96],"output":[97],"regulation":[98],"problem.":[99],"Leveraging":[100],"noisy":[101],"input\u2013state":[102],"data,":[103],"data-dependent":[105],"semidefinite":[106],"program":[107],"(SDP)":[108],"then":[110],"formulated":[111],"for":[112],"follower,":[114],"whose":[115],"solution":[116],"directly":[117],"yields":[118],"robust":[120],"that":[122],"ensures":[123],"rejects":[128],"disturbances.":[129],"Numerical":[130],"examples":[131],"validate":[132],"effectiveness":[134],"of":[135],"proposed":[137],"method.":[138]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-14T00:00:00"}
