Limited-Budget Consensus for Singular Swarm Systems With Switching Topologies

This paper investigates consensus design and analysis problems of singular swarm systems with topology switching and the given energy budget. First, a new dynamic output feedback control protocol with an energy constraint is proposed, which is singular and can make the whole swarm system satisfy some separation principle. Then, the leaderless limited-budget consensus criteria are proposed, where the gain matrices of control protocols can be designed by a new two-step design approach and an explicit expression of the consensus function is given via the First Equivalent Form, which is dependent on the dynamic modes and initial states of the whole swarm system, but is not associated with the given energy budget and protocol states. Furthermore, main consensus conclusions for leaderless cases are extended to leader-following ones, where the structures of the relationship matrices are different. Finally, the leaderless and leader-following examples are provided to demonstrate main consensus conclusions, respectively.