Asynchronously Event-Triggered Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Typologies

This paper investigates the asynchronous control problem of event-triggered time-varying formation tracking (TVFT) for unmanned aerial vehicle (UAV) swarm systems with switching directed typologies. The proposed event-triggered mechanism (ETM) can reduce superfluous communication resources by executing the control task only when the triggering condition is satisfied. Meanwhile, the Zeno behavior is excuded as well. In addition, the asynchronous phenomenon between the event-triggered instant and the switching instant is taken into account, which is more practical and complicated in the system under consideration. Subsequently, The TVFT control scheme, the ETM and the persistent dwell time signal are collectively designed to guarantee the globally uniformly asymptotic stability of the UAV swarm system. The efficiency and merits of these designed methods are affirmatively demonstrated through conclusive simulation results.