Time-varying formation (TVF) tracking problems of heterogeneous swarm systems (HSSs) under switching directed topologies with the existence of a leader of input are discussed in this paper. According to the characteristics of heterogeneous systems, the agents in swarm systems can be different from both state dynamics and dimensions with each other. Firstly, construct the distributed observers for followers to evaluate the leader’s state information. Meanwhile, the own states of followers are evaluated by state observers. Furthermore, the controllers of followers are designed under the above observers. With the existence of a leader of input, sliding mode control approaches are applied to constructing the observers and controllers. Under switching directed topologies, the closed-loop stability of swarm systems is proven in detail by Lyapunov theory. Finally, theoretical results are validated by the simulation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Time-Varying Formation Tracking for Heterogeneous Swarm Systems Under Switching Directed Topologies with a Leader of Input


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Tian, Lei (author) / Hua, YongZhao (author) / Dong, Xiwang (author) / Li, Qingdong (author) / Ren, Zhang (author)


    Publication date :

    2021-10-30


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English