Formation Control for Swarm Systems with Time-varying Delays and Topology Uncertainties
Shi Xiaohang, Qingjie Zhang, Chao Sun, Junwei Lv, Bo Bi · 2018
The formation control problem for swarm systems with time-varying delays and topology uncertainties is studied. Firstly, the formation control protocol based on consensus theory is proposed. Secondly, with the aid of variable substitution, the problem of formation control with time-varying delays and topology uncertainties is transformed into the stabilization problem of delay-dependent systems. The common Lyapunov-Krasovskii functional is constructed and the stabilization problem of delay-dependent systems is analyzed through the free-weighting matrices method. Moreover, the linear matrix inequality (LMI) criterion for swarm systems with lower conservative is obtained. The upper bounds of delays and the controller gains are also given. Finally, the theoretical results are demonstrated by numerical simulations.