Abstract
Time-varying formation tracking problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied, where the states of the follower UAVs form a predefined time-varying formation while tracking the state of the leader UAV. A formation tracking protocol is constructed using only relative information of neighboring UAVs. An approach to design the formation tracking protocol is proposed by solving an algebraic Riccati equation, and the stability of the proposed approach is proven using the common Lyapunov stability theory. The obtained results are applied to solve the target enclosing problem of a quadrotor swarm system consisting of one leader (target) quadrotor and three follower quadrotors. Both a numerical simulation and an outdoor experiment are presented to demonstrate the effectiveness of the theoretical results.
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