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This paper studies the time-varying bearing-based tracking of leader-followerformations. The desired constraints between agents are specified by bearingvectors, and several leaders are moving with a bounded reference velocity. Eachfollowers can measure the relative positions of its neighbors, its ownvelocities, and receive information from their neighbors. Under the assumptionsthat the desired formation is infinitesimally bearing rigid and the localreference frames of followers are aligned with each other, two control laws arepresented in this paper based on sliding mode control approach. Stabilityanalyses are given based on Lyapunov stability theory and supported bynumerical simulations.

Decentralized sliding-mode control laws for the bearing-based formation tracking problem