Time-varying Formation Design Research Articles

Robust [formula omitted] time-varying formation control of singular multiagent systems under jointly connected topologies

This study investigates time-varying formation design and analysis problems for the singular multiagent systems (SMASs) with external disturbances and jointly connected topologies. Firstly, the novel nonlinear distributed formation protocol is formulated and the finite-time reachability of sliding mode surfaces is proved. Another improvement emphasizes that a common matrix can be extracted from the decomposition of all switching Laplacian matrices, which simplifies the formation control problem to admissible analysis. Secondly, by using the feedback impulse elimination and Cauchy convergence criterion methods, the solvability of the time-varying formation control is obtained. Thirdly, the external disturbances are well suppressed by the robust H∞ stability analysis. Finally, to verify the validity of the proposed theory, the simulation examples of hexagonal time-varying formation are provided.

Intermittent Time-Varying Formation Control for High-Order Networked Agents Subject to Discontinuous Communications

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.

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

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.