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Volume 50 Issue 3
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Journal of Beijing University of Aeronautics and Astronautics  > 2024  >  50(3): 1037-1046.
WANG L，ZHANG Q J，CHEN H W. Guaranteed-performance formation control of swarm systems based on leader-follower strategy[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（3）：1037-1046 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0371
Citation: WANG L，ZHANG Q J，CHEN H W. Guaranteed-performance formation control of swarm systems based on leader-follower strategy[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（3）：1037-1046 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0371
shu

Guaranteed-performance formation control of swarm systems based on leader-follower strategy

doi: 10.13700/j.bh.1001-5965.2022.0371

  • Aviation University of Air Force，Changchun 130022，China

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  • Corresponding author: E-mail：nudtzhang@hotmail.com
  • Received Date: 17 May 2022
  • Accepted Date: 24 Feb 2023
  • Publish Date: 04 Sep 2023
    Abstract

  • Aiming at the problem of formation tracking control of swarm systems, an optimal control method with guaranteed-performance with switching topologies is proposed. Firstly, a mathematical description of formation tracking control problem based on leader-follower structure is established, and a distributed performance index is introduced to describe the formation adjustment performance of swarm systems. Then, the formation control protocol based on leader-follower structure is designed by using consensus theory. Then, the closed-loop stability of the system is analyzed by means of Lyapunov method, and the mathematical expression of the upper bound of the guaranteed-performance is given. Finally, a numerical simulation is used to verify the effectiveness of the control method, and the swarm system can realize formation tracking control under the upper bound of performance, and the formation tracking speed and performance consumption are better than the existing literature.

     

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