Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies
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 wit...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8825301 |
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| _version_ | 1849683692435275776 |
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| author | Hongtao Dang Le Wang Yan Zhang Jianye Yang |
| author_facet | Hongtao Dang Le Wang Yan Zhang Jianye Yang |
| author_sort | Hongtao Dang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-cef74914143c45ca8d73ef8ade472ef5 |
| institution | DOAJ |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-cef74914143c45ca8d73ef8ade472ef52025-08-20T03:23:43ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/88253018825301Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix TopologiesHongtao Dang0Le Wang1Yan Zhang2Jianye Yang3Shannxi Engineering Research Center of Controllable Neutron Source, School of Science, Xijing University, Xi’an 710123, ChinaHigh-Tech Institute of Xi’an, Xi’an 710025, ChinaShannxi Engineering Research Center of Controllable Neutron Source, School of Science, Xijing University, Xi’an 710123, ChinaShannxi Engineering Research Center of Controllable Neutron Source, School of Science, Xijing University, Xi’an 710123, ChinaThis 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.http://dx.doi.org/10.1155/2020/8825301 |
| spellingShingle | Hongtao Dang Le Wang Yan Zhang Jianye Yang Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies Complexity |
| title | Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies |
| title_full | Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies |
| title_fullStr | Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies |
| title_full_unstemmed | Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies |
| title_short | Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies |
| title_sort | limited budget formation control for high order linear swarm systems with fix topologies |
| url | http://dx.doi.org/10.1155/2020/8825301 |
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