Search

The swarm system is a specific system composed of multiple agents interacting with information locally. Part of agents’ state is difficult to available or even undetectable in practical applications, and the relationship between agents can be cooperative or competitive. In this study, a bipartite formation control protocol for distributed swarm systems based on output feedback is designed under the signed network topology. This strategy takes the output state between neighboring agents as the feedback information without relying on the global information of the communication topology. Considering that the real systems are often affected by external disturbances, some sufficient conditions that the control protocol can guarantee the system error is finally uniformly bounded are established based on Lyapunov stability theory. After analyzing the robustness of the protocol, the residual set of the final uniformly convergent errors is given. According to the designed control protocol and formation conditions, simulation is carried out to verify the effectiveness of the protocol, and the time for the system to reach stability under different initial ranges is given. [ABSTRACT FROM AUTHOR]

The homogeneous swarm system is limited in function because of its single component. The individual composition of the heterogeneous cluster system is diverse， so the functions of the homogeneous cluster system can be extended. In view of the problem of formation tracking control in heterogeneous swarm system， based on leader-follower model， a distributed PI formation tracking control protocol is designed under the directed communication topology. The expected time-varying formation is designed， and the followers keep the expected formation while tracking the leader， so that all the agents in the system can reach the expected position. Considering that the real system is often affected by the external unknown disturbance and some uncertain factors， based on the Lyapunov stability theory， some sufficient conditions are given to ensure the tracking error of the system to be uniformly bounded， and the robustness analysis is carried out. The simulation verification is carried out according to the designed control protocol and control conditions. The results show that the designed PI formation tracking control strategy can effectively solve the formation tracking control problem of heterogeneous cluster systems. [ABSTRACT FROM AUTHOR]