Abstract:

The swarm system is a specific system composed of multiple agents interacting with information locally. Part of agents’ state is difficult to available or even undetectable in practical applications, and the relationship between agents can be cooperative or competitive. In this study, a bipartite formation control protocol for distributed swarm systems based on output feedback is designed under the signed network topology. This strategy takes the output state between neighboring agents as the feedback information without relying on the global information of the communication topology. Considering that the real systems are often affected by external disturbances, some sufficient conditions that the control protocol can guarantee the system error is finally uniformly bounded are established based on Lyapunov stability theory. After analyzing the robustness of the protocol, the residual set of the final uniformly convergent errors is given. According to the designed control protocol and formation conditions, simulation is carried out to verify the effectiveness of the protocol, and the time for the system to reach stability under different initial ranges is given.

Key words: output feedback, bipartite formation, swarm systems, external disturbances, signed topology, stability theory, error bounded, robust analysis