The current paper studies guaranteed cost time-varying formation tracking design and analysis problems of high-order swarm systems subject to intermittent communications. Different from the existing work of the time-varying formation control, the time-varying formation tracking can be achieved while certain performance can be guaranteed, and the impacts of the intermittent communications and switching topologies are considered. First, a new intermittent time-varying formation tracking control protocol with a global performance index is proposed, where not only the formation regulation performances but also the control energy expenditures are involved. The codesign of the gain matrix with the performance index is achieved to compromise the formation regulation performances against control energy expenditures, and the guaranteed cost is determined to restrain the upper bound of the performance index. Then, guaranteed cost time-varying formation tracking design and analysis criteria are given, where the matrix variable of the linear matrix inequality conditions is used to design the gain matrix and to determine the guaranteed cost. Finally, a simulation example is provided to illustrate the effectiveness of the theoretical results.

中文翻译：

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间歇通信群系统的有保证成本形成跟踪控制

目前的研究保证了时空编队跟踪系统的设计成本以及时变编队跟踪问题，并分析了间歇性通信系统的问题。与时变编队控制的现有工作不同，可以在保证一定性能的同时实现时变编队跟踪，并考虑了间歇性通信和交换拓扑的影响。首先，提出了一种新的具有全局性能指标的间歇时变地层跟踪控制协议，该协议不仅涉及地层规整性能，而且还涉及控制能量消耗。获得具有性能指标的增益矩阵的代码，以使编队调节性能与控制能量消耗相抵触，确定保证成本以约束性能指标的上限。然后，给出了保证成本随时间变化的编队跟踪设计和分析准则，其中线性矩阵不等式条件的矩阵变量被用来设计增益矩阵并确定保证成本。最后，提供了一个仿真实例来说明理论结果的有效性。