Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections
The paper investigates the formation control problem for high-order linear swarm systems with limited communications such as time-varying delays and switching interconnections. Firstly, the problem description is given including the dynamics of high-order swarm systems, formation protocol and the de...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8984313/ |
| _version_ | 1818330513274830848 |
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| author | Qingjie Zhang Haifeng Guo Shi Xiaohang |
| author_facet | Qingjie Zhang Haifeng Guo Shi Xiaohang |
| author_sort | Qingjie Zhang |
| collection | DOAJ |
| description | The paper investigates the formation control problem for high-order linear swarm systems with limited communications such as time-varying delays and switching interconnections. Firstly, the problem description is given including the dynamics of high-order swarm systems, formation protocol and the definitions of formation maintenance and tracking. Secondly, four formation conditions are derived: the former three are related to formation function, reference trajectory, auxiliary functions and network topology; the fourth one is equivalent to the stability of N-1 time-delay systems. In order to get lower conservative criteria, the Free-weighting Matrices(FWM) approach is employed to analyze the stabilization problem. Finally, the allowance upper bound of delays is calculated through solving the feasible linear matrix inequalities (LMIs). Numerical examples and simulation results are given to demonstrate the effectiveness and benefit on reducing conservativeness of the proposed method. |
| first_indexed | 2024-12-13T13:05:09Z |
| format | Article |
| id | doaj.art-21bca131eb27456e88c3a3944095716a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T13:05:09Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-21bca131eb27456e88c3a3944095716a2022-12-21T23:44:50ZengIEEEIEEE Access2169-35362020-01-018281882819610.1109/ACCESS.2020.29717318984313Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching InterconnectionsQingjie Zhang0https://orcid.org/0000-0002-5718-263XHaifeng Guo1https://orcid.org/0000-0001-6329-8535Shi Xiaohang2https://orcid.org/0000-0002-5187-976XSchool of Aviations and Services, Aviation University of Air Force, Changchun, ChinaSchool of Aviations and Services, Aviation University of Air Force, Changchun, ChinaDalian Naval Academy, Dalian, ChinaThe paper investigates the formation control problem for high-order linear swarm systems with limited communications such as time-varying delays and switching interconnections. Firstly, the problem description is given including the dynamics of high-order swarm systems, formation protocol and the definitions of formation maintenance and tracking. Secondly, four formation conditions are derived: the former three are related to formation function, reference trajectory, auxiliary functions and network topology; the fourth one is equivalent to the stability of N-1 time-delay systems. In order to get lower conservative criteria, the Free-weighting Matrices(FWM) approach is employed to analyze the stabilization problem. Finally, the allowance upper bound of delays is calculated through solving the feasible linear matrix inequalities (LMIs). Numerical examples and simulation results are given to demonstrate the effectiveness and benefit on reducing conservativeness of the proposed method.https://ieeexplore.ieee.org/document/8984313/Formation trackingformation maintenancehigh-order swarm systemstime-varying delaysswitching interconnections |
| spellingShingle | Qingjie Zhang Haifeng Guo Shi Xiaohang Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections IEEE Access Formation tracking formation maintenance high-order swarm systems time-varying delays switching interconnections |
| title | Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections |
| title_full | Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections |
| title_fullStr | Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections |
| title_full_unstemmed | Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections |
| title_short | Formation Control of High-Order Swarm Systems With Time-Varying Delays and Switching Interconnections |
| title_sort | formation control of high order swarm systems with time varying delays and switching interconnections |
| topic | Formation tracking formation maintenance high-order swarm systems time-varying delays switching interconnections |
| url | https://ieeexplore.ieee.org/document/8984313/ |
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