Energy-Constraint Output Formation for Networked Systems With Random Communication Silence and Switching Topologies

For high-order linear networked systems with switching topologies and the random communication silence, energy-constraint output formation problems are investigated. Firstly, the dynamics associated with the coordinated output is decomposed from the whole dynamics of each intelligent agent and a new control protocol is constructed on the basis of the coordinated outputs and the protocol states of neighboring intelligent agents, where switching topologies, the energy constraint and the random communication silence are contained. Then, by introducing the silent rate and the dwell time, the impacts of the random communication silence and switching topologies are dealt with and sufficient conditions for energy-constraint output formation design and analysis are proposed, where the output formation feasible conditions are required to guarantee the output formation achievement property. Especially, an explicit expression of the output formation center function is determined, which depicts the whole motion of a networked system when energy-constraint output formation is achieved. Finally, a numerical example is given to demonstrate theoretical conclusions.