Time-varying formation control for high-order linear swarm systems with switching interaction topologies

2014 ◽  
Vol 8 (18) ◽  
pp. 2162-2170 ◽  
Author(s):  
Xiwang Dong ◽  
Zongying Shi ◽  
Geng Lu ◽  
Yisheng Zhong
Keyword(s):  
Formation Control ◽  
High Order ◽  
Time Varying ◽  
Order Linear

Time-varying output formation control for high-order linear time-invariant swarm systems

2015 ◽  
Vol 298 ◽  
pp. 36-52 ◽  
Author(s):  
Xiwang Dong ◽  
Zongying Shi ◽  
Geng Lu ◽  
Yisheng Zhong
Keyword(s):  
Formation Control ◽  
Linear Time ◽  
High Order ◽  
Time Varying ◽  
Order Linear ◽  
Linear Time Invariant ◽  
Time Invariant

scholarly journals Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Hongtao Dang ◽  
Le Wang ◽  
Yan Zhang ◽  
Jianye Yang
Keyword(s):  
Formation Control ◽  
Sufficient Conditions ◽  
Inequality Constraints ◽  
High Order ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Order Linear ◽  
Limited Budget ◽  
Communication Topology ◽  
Formation Design

This paper discusses limited-budget time-varying formation design and analysis problems for a high-order linear swarm system with a fixed communication topology. Firstly, the communication topology among agents is modeled as an undirected and connected graph, and a new formation control protocol with an energy integral term is proposed to realize formation control and to guarantee the practical energy assumption is less than the limited energy budget. Then, by the matrix inequality tool, sufficient conditions for limited-budget formation design and analysis are proposed, respectively, which are scalable and checkable since they are independent of the number of agents of a swarm system and can be transformed into linear matrix inequality constraints. Moreover, an explicit expression of the formation center function is given, which contains the formation function part and the cooperative state part and is not associated with the derivatives of the formation functions. Finally, a numerical simulation is shown to demonstrate the effectiveness of theoretical results.

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