Time-varying formation control for swarm systems with second-order dynamics and switching directed topologies

2016 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2016-03-14 DOI:10.1109/ICIT.2016.7475101

Xiwang Dong, Qingdong Li, Rui Wang, Z. Ren

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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.

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具有二阶动力学和有向切换拓扑的时变群体控制

本文研究具有一般有向拓扑的二阶群系统的群体控制问题，其中期望的群体可以是时变的，有向拓扑可以是切换的。首先，提出了一种利用局部相邻状态信息的分布式时变编队控制协议。在此基础上，提出了一种具有交换导向拓扑的协议设计算法。基于分段Lyapunov函数理论，推导了二阶群系统在设计协议下实现预定时变队形的充分条件，并分别给出了队形可行性约束和停留时间阈值。此外，还得到了地层参考函数的显式表达式，用于描述整个时变地层在切换有向拓扑影响下的宏观轨迹。最后，通过数值仿真验证了所得结果的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2016 IEEE International Conference on Industrial Technology (ICIT)

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