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Necessary and sufficient conditions for UAV swarm systems with switching interaction topologies to achieve predefined time-varying formations are proposed.
For switching interaction topology, it is shown that the system is stabilizable even if each of its subsystems is not.
Time-varying formation control problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied.
While the reference input of the leader is known, the proposed protocol can solve the consensus problem under a class of directed switching interaction topologies.
Moreover, the stability and the finite-time convergence of the closed-loop system using the proposed consensus algorithm under a (general) directed switching interaction graph can even be guaranteed by the stability and the finite-time convergence of some well-designed nonlinear closed-loop system under some special directed switching interaction graph.
Finally, simulation results are presented to illustrate that the designed control law is successful in achieving high tracking performance, even in the presence of unknown external disturbance torque, unknown inertia matrices and switching interaction topology among spacecraft.
Similar(51)
Switching interactions in four nonpolar core regions are locally isoenergetic throughout the transition.
Designed mutation shows that switching interactions enhance the rate, perhaps by destabilizing the ground state immediately before the transition state and limiting nonproductive diffusion before and after the chemical transition state, thereby reducing the activation entropy.
This sequence class is designed to null the average Hamiltonian (¯¯¯H 0)) over the period of the multiple-pulse cycle, typically to provide for high-resolution isolation of evolution from a switched interaction, such as field gradients for imaging or small sample perturbations.
(D408 also switches interaction partners, to the backbone of L442 in TM5, i.e. also within repeat R1).
During subsequent evolutionary network re-wiring, the proteins went though various levels of functional diversification and switched interaction partners.
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