Asynchronously Integral Event-Triggered Formation Tracking in UAV Swarm Systems Featuring Switching Directed Topologies

This article explores the control problem of integral event-triggered $\mathcal {H}_{\infty }$ time-varying formation tracking (TVFT) for unmanned aerial vehicle (UAV) swarm systems, featuring switching directed topologies. Employing the persistent dwell time (PDT) switching approach, the nonweighted $\mathcal {H}_{\infty }$ performance can be assured for the swarm system, which improves disturbance attenuation capability and has rarely been studied in the existing UAV formation control research to date. Meanwhile, a more advanced integral event-triggered mechanism (IETM) is devised to further decrease the triggering frequency compared to the static event-triggered one. In addition, the asynchronism due to the coexistence of event-triggered transmission and switching characteristics is taken into consideration. Building on these foundations, a comprehensive approach is developed, integrating the TVFT control scheme, the IETM, and the PDT switching, with simulation results validating its effectiveness and advantages.