| Citation: | SHI Xiaohang, ZHANG Qingjie, LYU Junweiet al. Formation control for high-order linear swarm systems with complex communication conditions[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(4): 769-780. doi: 10.13700/j.bh.1001-5965.2019.0302(in Chinese)
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The formation control problems for high-order linear swarm systems with time-varying delays, topology uncertainties and external disturbances are investigated. Firstly, the mathematical description of the formation control for swarm systems is established, and the formation control protocol is proposed based on the consensus nearest neighbor principle. Secondly, the necessary and sufficient conditions for swarm systems to achieve the formation are presented. By decomposing the state and using the variable substitution method, the design method of formation protocol is given under the constrained conditions. Furthermore, in order to get the upper bound of the time-varying delays, the free-weighting matrices are introduced, and the linear matrix inequality (LMI) criteria with lower conservation are obtained. Finally, numerical examples and simulation results are given to demonstrate the effectiveness of the proposed method. The formation control method is robust for bounded time-varying delays, topology uncertainties and external disturbances.
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