Distributed Group Formation Tracking Control for Swarm Systems Guided by Multiple Leaders with Bounded Input
Cheng Wang, Le Wang, Jianxiang Xi, Jianfeng Guo · 2021 China Automation Congress (CAC) · 2021
This paper investigates the problems of distributed group formation tracking for swarm systems with multiple leaders, where each leader has bounded control input. Agents in the swarm system are separated into several subgroups, and all subroups are required to track the same target. In addition, each subgroup is composed of followers and one or more leaders, where leaders in a subgroup can not only contact with leaders in other subgroup to track the target collaboratively, but also proposed reference trajectories to their followers in the same subgroup. Based on neighboring state information feedback and sliding-mode control theory, a distributed group formation tracking control protocol is proposed, where gain matrices in the protocol can also be easily determined by several simple conditions. Moreover, the stability of the group formation tracking control system is proven on the basis of Lyapunov stability theory, and a simulation case is shown to verify the effectiveness and correctness of the main research results.