Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems
Guaranteed-performance formation control for swarm systems with the second-order dynamics is investigated based on the synchronization control strategy. Firstly, a new formation protocol is presented, where the weights of connected edges are adaptively regulated and the performance constraint is imp...
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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/10.1155/2020/3076132 |
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| _version_ | 1849473421148160000 |
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| author | Hongtao Dang Yichen Du Lingyun Kong Hui Yao Jianxiang Xi |
| author_facet | Hongtao Dang Yichen Du Lingyun Kong Hui Yao Jianxiang Xi |
| author_sort | Hongtao Dang |
| collection | DOAJ |
| description | Guaranteed-performance formation control for swarm systems with the second-order dynamics is investigated based on the synchronization control strategy. Firstly, a new formation protocol is presented, where the weights of connected edges are adaptively regulated and the performance constraint is imposed. Then, on the basis of the Riccati inequality, sufficient conditions for synchronization-based guaranteed-performance formation are proposed, and an explicit expression of the guaranteed-performance cost is shown, where it is fully distributed to design gain matrices of the formation protocol in the sense that it is independent of global information of swarm systems. Moreover, the whole motion of a swarm system is determined, which is associated with initial states of all agents and formation control vectors. Finally, two numerical examples are shown to demonstrate theoretical conclusions, where the static whole motion and the dynamic whole motion are considered, respectively. |
| format | Article |
| id | doaj-art-d2933c5c5f7e4a9397470ee0c7eaad77 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-d2933c5c5f7e4a9397470ee0c7eaad772025-08-20T03:24:08ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/30761323076132Synchronization-Based Guaranteed-Performance Formation Design for Swarm SystemsHongtao Dang0Yichen Du1Lingyun Kong2Hui Yao3Jianxiang Xi4Shaanxi Engineering Research Center of Controllable Neutron Source, School of Science, Xijing University, Xi’an 710123, ChinaShaanxi Engineering Research Center of Controllable Neutron Source, School of Science, Xijing University, Xi’an 710123, ChinaShaanxi Engineering Research Center of Controllable Neutron Source, School of Science, Xijing University, Xi’an 710123, ChinaRocket Force University of Engineering, Xi’an 710025, ChinaRocket Force University of Engineering, Xi’an 710025, ChinaGuaranteed-performance formation control for swarm systems with the second-order dynamics is investigated based on the synchronization control strategy. Firstly, a new formation protocol is presented, where the weights of connected edges are adaptively regulated and the performance constraint is imposed. Then, on the basis of the Riccati inequality, sufficient conditions for synchronization-based guaranteed-performance formation are proposed, and an explicit expression of the guaranteed-performance cost is shown, where it is fully distributed to design gain matrices of the formation protocol in the sense that it is independent of global information of swarm systems. Moreover, the whole motion of a swarm system is determined, which is associated with initial states of all agents and formation control vectors. Finally, two numerical examples are shown to demonstrate theoretical conclusions, where the static whole motion and the dynamic whole motion are considered, respectively.http://dx.doi.org/10.1155/2020/3076132 |
| spellingShingle | Hongtao Dang Yichen Du Lingyun Kong Hui Yao Jianxiang Xi Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems Complexity |
| title | Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems |
| title_full | Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems |
| title_fullStr | Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems |
| title_full_unstemmed | Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems |
| title_short | Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems |
| title_sort | synchronization based guaranteed performance formation design for swarm systems |
| url | http://dx.doi.org/10.1155/2020/3076132 |
| work_keys_str_mv | AT hongtaodang synchronizationbasedguaranteedperformanceformationdesignforswarmsystems AT yichendu synchronizationbasedguaranteedperformanceformationdesignforswarmsystems AT lingyunkong synchronizationbasedguaranteedperformanceformationdesignforswarmsystems AT huiyao synchronizationbasedguaranteedperformanceformationdesignforswarmsystems AT jianxiangxi synchronizationbasedguaranteedperformanceformationdesignforswarmsystems |