Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies

<div>Trajectories of <svg height="12.5794pt" id="M219" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 109.097 12.5794" width="109.097pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M384 393C384 425 346 448 294 448C244 448 200 431 150 399C75 351 23 271 23 176C23 90 52 45 132 19C150 13 166 9 195 2C245 -10 260 -27 260 -55C260 -92 234 -127 218 -145L237 -159C271 -137 333 -93 333 -18C333 43 283 62 228 74C199 80 186 84 172 89C116 109 101 150 101 210C101 318 164 400 241 400C276 400 301 390 327 356C334 347 338 343 346 345C367 349 384 374 384 393Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.966,3.132)"><path d="M485 418C485 434 469 451 441 451C389 451 312 387 255 335C221 304 194 278 159 242H157L259 678C264 698 264 710 255 710C242 710 183 681 96 673L90 643L128 642C165 641 171 640 162 602L24 -5L31 -12C51 -4 81 4 110 9L145 181C154 195 180 220 205 242C233 170 263 106 291 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158 268 206 300C284 261 355 217 355 143C355 66 308 20 248 20Z"></path></g><g transform="matrix(.013,0,0,-0.013,104.23,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg> for time-invariant formation tracking case.</div>

Complexity

fig7

Figure 7

Figure 7: Formation Tracking for High-Order Time-Invariant Swarm Systems with Limited Energy and Fixed Topologies 