Formation Tracking Control Design for Uncertain Artificial Swarm Systems

A novel formation tracking control approach for uncertain artificial swarm systems is designed. In this paper, agents can not only track fixed targets but also perform swarm behaviors, and the swarm behaviors are regarded as control targets for the agent. By the Udwadia-Kalaba theory, dynamic control is presented for each agent to ensure that the artificial swarm systems meet the required movement. Additionally, the uncertainties of the agents, which is unknown and time-varying (but bound), are considered. To estimate boundary information, a new adaptive law is designed. The artificial swarm systems' performances under the designed method are guaranteed by Lyapunov stability and numerical verification by simulation.