ABSTRACT
Time-varying formation tracking control problems for weak heterogeneous swarm systems with matched/mismatched disturbances are studied respectively. For the case with matched disturbances, a robust adaptive time-varying formation tracking protocol and an algorithm to design the parameters in a distributed manner are proposed. Then, formation tracking feasible conditions, an approach to expand the feasible formation set, and sufficient conditions to achieve the desired formation tracking are given. For the case with mismatched disturbances, based on the finite-time disturbance observer, the integral sliding mode control, and the super-twisting algorithm, a continuous time-varying formation tracking protocol using the neighboring interaction is presented, and the finite-time convergence of the formation tracking errors is proved.
