Formation control for linear swarm systems with time-varying delays based on free-weighting matrices

SHI Xiaohang; ZHANG Qingjie; LYU Junwei

doi:10.7527/S1000-6893.2017.21628

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2018 , Vol. 39 >Issue 3: 321628 - 321628

DOI: https://doi.org/10.7527/S1000-6893.2017.21628

Electronics and Electrical Engineering and Control

Formation control for linear swarm systems with time-varying delays based on free-weighting matrices

SHI Xiaohang ,
ZHANG Qingjie ,
LYU Junwei

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1. Department of Control Engineering, Naval Aeronautical University, Yantai 264001, China;
2. Department of Aircraft Control, Aviation University of Air Force, Changchun 130022, China

Received date: 2017-07-25

Revised date: 2017-11-03

Online published: 2017-11-03

Supported by

National Natural Science of China (61004002); Aeronautical Science Foundation of China (20155884012)

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Abstract

Based on free-weighting matrices method, the formation control for the linear swarm systems with time-varying delays is investigated. First, a protocol for the formation control with time-varying delays is proposed based on consensus theory. Second, the formation control problem is transformed into the stabilization problem of delay-dependent system using variable substitution. The Lyapunov-Krasovskii function is constructed, and the stabilization problem of the delay-dependent system is analyzed using free-weighting matrices method. Then, the Linear Matrix Inequality (LMI) criterion with lower conservatism is obtained. The upper bounds of delays and the controller gains are also given. Finally, the effectiveness of the method is verified through the simulation experiments.

Key words： swarm systems; consensus; formation control; free-weighting matrices; time-varying delays

Cite this article

SHI Xiaohang , ZHANG Qingjie , LYU Junwei . Formation control for linear swarm systems with time-varying delays based on free-weighting matrices[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018 , 39(3) : 321628 -321628 . DOI: 10.7527/S1000-6893.2017.21628

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