Abstract
The current paper investigates energy-constraint formation design and analysis problems for multiagent systems with two types of switching interaction topologies; that is, leaderless ones and leader-following ones. Firstly, a new formation control protocol with switching interaction topologies is shown, where the whole energy supply is limited previously. Then, by constructing the relationship of the whole energy supply and the matrix variable, sufficient conditions for leaderless energy-constraint formation design and analysis are respectively presented by the linear matrix inequality tool. Furthermore, an approach is proposed to determine an explicit expression of the formation center function, which determines the macroscopic motion of a multiagent system as a whole and consists of two parts: the initial state term and the formation function term. Moreover, main conclusions of leaderless energy-constraint formation are extended into leader-following multiagent systems by a new two-step transformation approach, where the asymmetric structure feature of leader-following switching interaction topologies is well dealt with. Finally, two numerical examples are provided to demonstrate the effectiveness of main conclusions.
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