  This paper considers the problem of the bearing-based formation control with
disturbance rejection for a group of agents under the leader-follower
structure. The disturbances are in the form of a trigonometric polynomial with
arbitrary unknown amplitudes, unknown initial phases, and known or unknown
frequencies. For the case of the known frequencies, we employ the canonical
internal model to solve the problem, and, for the case of the unknown
frequencies, we combine the canonical internal model and {some} distributed
adaptive control technique to deal with the problem. It is noted that the
existing results can only handle constant input disturbances by continuous
control laws or disturbances with known {bounds} by discontinuous control laws.
The first case is a special case of our result. The second case cannot cover
our results because the bound of our disturbance is unknown. Moreover, our
control law is smooth.
