Paper Info
Title
Time-Varying Formation Control For Swarm Systems With Second-Order Dynamics And Switching Directed Topologies
Abstract
Formation control problems for second-order swarm systems with general directed topologies are addressed in this paper, where the desired formation can be time-varying and the directed topology can be switching. Firstly, a distributed time-varying formation control protocol using local neighboring state information is proposed. Then an algorithm to design the protocol with switching directed topologies is presented. Sufficient conditions for second-order swarm systems to achieve the predefined time-varying formation under the designed protocol are derived based on the piecewise Lyapunov function theory, where the formation feasibility constraint and the threshold for the dwell time are proposed, respectively. Moreover, an explicit expression of the formation reference function is obtained to describe the macroscopic trajectory of the whole time-varying formation under the influence of the switching directed topologies. Finally, a numerical simulation is provided to demonstrate the effectiveness of the obtained results.
Year
DOI
Venue
2016
10.1109/ICIT.2016.7475101
PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)
Keywords
Field
DocType
Time-varying formation control, second-order swarm system, formation reference, switching directed topology
Dwell time,Algorithm design,Swarm behaviour,State information,Computer simulation,Control theory,Symmetric matrix,Network topology,Control engineering,Trajectory,Mathematics
Conference
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Xiwang Dong157335.47
Qingdong Li210212.25
Rui Wang3426.80
Zhang Ren415322.79