Bio-inspired adaptive formation tracking control for swarm systems with application to UAV swarm systems

摘要

Adaptive formation tracking problems for swarm systems with multiple leaders and switching topologies are studied in this paper. It is required that the followers form time-varying formations and track the positions of the leaders simultaneously, where the bio-inspired adaptive formation tracking control method is originated from the grey wolves with strict hierarchy and flexible communication structure. First, the grey wolf tracking strategy with four steps, including of level division, locating the prey, following the leaders, and encircling, is applied to swarm systems. Second, the adaptive formation tracking control protocol using neighboring relative state information is designed for swarm systems to achieve the adaptive formation tracking with switching topologies. Finally, the experiments of Unmanned Aerial Vehicle (UAV) swarm systems are performed using the visible simulation platform based on the Robot Operating System (ROS) and Gazebo to verify the adaptive formation tracking method. Inspired from the grey wolf tracking strategy, the adaptive formation tracking control method has been proposed, which improves the system stability and precision of the formation tracking.CO 2021 Elsevier B.V. All rights reserved.