# Bearing-Based Formation Tracking Control With Time-Varying Velocity Estimation

> Research article (IEEE Transactions on Cybernetics, 2022) · cited 55× · AI/ML

**Wikidata**: [openalex:W4282945552](https://www.wikidata.org/wiki/openalex:W4282945552)  
**Source**: https://4ort.xyz/entity/bearing-based-formation-tracking-control-with-time-varying-velocity-estimation