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

Joint Authors

Yang, Jianye
Dang, Hongtao
Wang, Le
Zhang, Yan

Source

Complexity

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-10-08

Country of Publication

Egypt

No. of Pages

11

Main Subjects

Philosophy

Abstract EN

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.

American Psychological Association (APA)

Dang, Hongtao& Wang, Le& Zhang, Yan& Yang, Jianye. 2020. Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies. Complexity،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1144718

Modern Language Association (MLA)

Dang, Hongtao…[et al.]. Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies. Complexity No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1144718

American Medical Association (AMA)

Dang, Hongtao& Wang, Le& Zhang, Yan& Yang, Jianye. Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies. Complexity. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1144718

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1144718