Formation Tracking For Singular Swarm Systems Subjected To Energy Constraints And Switching Transmission Topologies

This article investigates admissible formation tracking for singular swarm systems under conditions of switching transmission topologies as well as the limited energy supply, where both switching transmission topologies containing a spanning tree and switching transmission topologies containing a joint spanning tree are addressed. First, a new formation control tracking protocol with switching transmission topologies is proposed to realize admissible formation tracking, where the total energy supply is predetermined. Afterwards, by a dual nonsingular transformation, the disagreement dynamics between followers and the leader is determined and the impacts of asymmetric structures of switching transmission topologies are eliminated. Sufficient conditions for admissible formation tracking design and analysis for singular swarm systems with switching transmission topologies containing a spanning tree and with switching transmission topologies containing a joint spanning tree are proposed, respectively, where the coupling relationship matrix between the total energy supply and the matrix variable is determined. Finally, two numerical simulations are presented to demonstrate the effectiveness of theoretical results.