Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies
The current paper investigates design and analysis problems of formation tracking for high-order linear time-invariant swarm systems, where communication topologies among agents have leader-following structures and the whole energy supply is limited. Firstly, the communication topology of a swarm sy...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/6678190 |
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| Summary: | The current paper investigates design and analysis problems of formation tracking for high-order linear time-invariant swarm systems, where communication topologies among agents have leader-following structures and the whole energy supply is limited. Firstly, the communication topology of a swarm system is depicted by a directed graph with a spanning tree, where the communication channels from the leader to followers are directional and the communication channels among followers are bidirectional, and a new formation tracking protocol with an energy integral term and a given upper bound is proposed to achieve formation tracking with the limited energy. Then, sufficient conditions for time-varying formation tracking design and analysis with the limited energy are presented, respectively, which include two/three linear matrix inequality constraints associated with the maximum and minimum nonzero eigenvalues of the Laplacian matrix of a communication topology. Especially, time-invariant formation tracking criteria are further deduced. Finally, two numerical examples are revealed to verify main theoretical conclusions. |
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| ISSN: | 1076-2787 1099-0526 |