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 |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/6678190 |
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| _version_ | 1832567773600940032 |
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| author | Jianye Yang Cheng Wang Hongtao Dang Xinzhong Han |
| author_facet | Jianye Yang Cheng Wang Hongtao Dang Xinzhong Han |
| author_sort | Jianye Yang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-0776ba8708c3446c97b4e6bd73484511 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-0776ba8708c3446c97b4e6bd734845112025-02-03T01:00:28ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/66781906678190Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed TopologiesJianye Yang0Cheng Wang1Hongtao Dang2Xinzhong Han3School of Science, Xijing University, Xi’an 710123, ChinaHigh-Tech Institute of Xi’an, Xi’an 710025, ChinaSchool of Science, Xijing University, Xi’an 710123, ChinaBeijing BlueVision Technology Limited Company, Beijing 100070, ChinaThe 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.http://dx.doi.org/10.1155/2020/6678190 |
| spellingShingle | Jianye Yang Cheng Wang Hongtao Dang Xinzhong Han Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies Complexity |
| title | Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies |
| title_full | Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies |
| title_fullStr | Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies |
| title_full_unstemmed | Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies |
| title_short | Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies |
| title_sort | formation tracking for high order time invariant swarm systems with limited energy and fixed topologies |
| url | http://dx.doi.org/10.1155/2020/6678190 |
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