Formation Control of Swarm Systems

  • Xiwang DongEmail author
Part of the Springer Theses book series (Springer Theses)


This chapter investigates time-varying formation control problems for high-order linear time-invariant (LTI) swarm systems and unmanned aerial vehicle (UAV) swarm systems. First, time-varying state formation control problems for high-order LTI swarm systems with time delays and time-varying output formation control problems for high-order LTI swarm systems are studied, respectively. Necessary and sufficient conditions for swarm systems to achieve time-varying state/output formation, necessary and sufficient conditions for state/output formation feasibilities, and explicit expressions of state/output formation reference functions are presented. Then approaches to specify the motion modes of state/output formation references, approaches to expand feasible state/output formation sets, and approaches to design the state/output formation protocols are proposed, respectively. Moreover, necessary and sufficient conditions for UAV swarm systems to achieve time-varying formations and approaches to design the protocol are proposed. Autonomous time-varying formation control experiments are performed using five quadrotor UAVs in outdoor environment to demonstrate the theoretical results.


Swarm Systems Quadrotor UAV Time-varying Formation Control Problem Formulation Unmanned Aerial Vehicles (UAV) 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.School of Automation Science and Electronic EngineeringBeihang UniversityBeijingChina

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