Abstract
This paper investigates the leaderless and leader-follower time-varying formation design and analysis problems for a group of networked agents subject to discontinuous communications. Firstly, a leaderless time-varying formation control protocol is proposed via the intermittent control strategy, where the control input of each agent is constructed by the distributed local state information and formation instructions in the communication time unit, but it is zero in the noncommunication time unit. Then, an explicit formulation of the formation center function is determined to describe the formation movement trajectory of the whole networked agents. Leaderless time-varying formation design and analysis with discontinuous communications are given in the form of linear matrix inequalities. Moreover, the main results of the leaderless cases are extended to the leader-follower cases. Finally, two numerical examples are provided to illustrate the theoretical results of leaderless and leader-follower cases, respectively.
Highlights
Distributed cooperative control has received more attention from scholars in the last two decades, which can be applied in many circumstances, including flocking [1], consensus [2,3,4,5,6], formation control [7,8,9,10], distributed computation [11,12,13], and multisource data analysis [14, 15]
Distributed formation control indicates that a group of networked intelligent agents form the desired geometrical shape via the distributed control protocol, which is constructed by the local information among neighboring agents
The distributed formation control has aroused many researches, which can be divided into time-invariant formation and time-varying formation according to the time-dependent characteristics of the formation shape
Summary
Distributed cooperative control has received more attention from scholars in the last two decades, which can be applied in many circumstances, including flocking [1], consensus [2,3,4,5,6], formation control [7,8,9,10], distributed computation [11,12,13], and multisource data analysis [14, 15]. To the best of our knowledge, the time-varying formation control problems for networked agents with discontinuous communication in terms of both the switching topologies and intermittent interactions are still open. We investigate the leaderless and leaderfollower time-varying formation design and analysis for high-order networked homogeneous agents with discontinuous communications caused by switching topologies and intermittent interactions. Different from the works in [26,27,28,29,30], this paper considers the discontinuous communications of both switching topologies and intermittent communications In this case, the right-hand side of the closed-loop system is piecewise continuous. The right-hand side of the closed-loop system is piecewise continuous To solve this problem, a new intermittent time-varying formation control method is proposed. QT Q > 0 means that matrix Q is symmetric and positive definite
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