Time-varying formation control for swarm systems with communication constraints

被引：0

作者：

Wang, Le ^{[1
]}

Han, Xinzhong ^{[2
]}

Chen, Qing ^{[1
]}

Xi, Jianxiang ^{[1
]}

Liu, Guangbin ^{[1
]}

机构：

[1] High Tech Inst Xian, Xian 710025, Shaanxi, Peoples R China

[2] Acad Rocket Force, Beijing 10090, Peoples R China

来源：

2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年

关键词：

Swarm system; High order; Time-varying formation control; Communication constraint; LINEAR MULTIAGENT SYSTEMS; COOPERATIVE CONTROL; CONSENSUS TRACKING; FAULT; TOPOLOGIES;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Time-varying formation analysis and design problems for high-order swarm systems with communication constraints are investigated. Firstly, a time-varying formation control protocol is proposed only using intermittent relative local information. Then, sufficient conditions for time-varying formation analysis and design are given by linear matrix inequality techniques. Moreover, an explicit expression of the formation center function is presented to describe the movement trajectory of the whole formation. When the desired time-varying formation satisfies the formation feasibility condition, swarm systems with communication constraints can achieve time-varying formation by designing the formation control protocol if the nominal coverage rate is larger than a positive threshold. Finally, a numerical simulation is provided to demonstrate theoretical results.

引用

页码：7013 / 7018

页数：6

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