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Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies

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  • Jianye Yang
  • Cheng Wang
  • Hongtao Dang
  • Xinzhong Han

Abstract

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.

Suggested Citation

  • Jianye Yang & Cheng Wang & Hongtao Dang & Xinzhong Han, 2020. "Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies," Complexity, Hindawi, vol. 2020, pages 1-14, October.
    • Handle: RePEc:hin:complx:6678190
    DOI: 10.1155/2020/6678190
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