ABSTRACT
For high-order heterogeneous swarm systems with multiple leaders, time-varying formation tracking control problems with directed switching topologies and multiple leaders' incomplete information are investigated respectively. For the case with directed switching topologies, based on the well-informed follower assumption, a distributed time-varying output formation tracking protocol is designed. Sufficient conditions to achieve formation tracking with multiple leaders are given by using the piecewise Lyapunov stability theory. Furthermore, the well-informed follower assumption is removed, and the formation tracking problems with incomplete information of multiple leaders are discussed. A distributed observer is designed for each follower to estimate the dynamical matrices and the states of multiple leaders, and an adaptive algorithm is proposed to solve the regulator equations in finite time. Then, a fully distributed time-varying output formation tracking protocol and a design algorithm are proposed. It is proved that the desired formation tracking with multiple leaders can be achieved by swarm systems without requiring the well-informed follower assumption.
