Integral Event-triggered Time-varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies

In this paper, the integral event-triggered time-varying formation tracking (TVFT) problem is investigated for unmanned aerial vehicle (UAV) swarm systems with switching directed topologies. An improved integral event-triggered mechanism (ETM) is introduced into the TVFT control protocol, which can further reduce communication frequency and resource consumption compared with traditional static ETM. The switching topology is considered to improve the reliability of the communication network. Different from traditional TVFT, the addition of the switching signal and the ETM brings challenges to the system analysis and design. To this end, the control protocol of TVFT, the admissible edge-dependent average dwell time switching signal and the ETM are co-designed, the global exponential stability criterion is further deduced. The simulation verifies the effectiveness and merits of the design scheme.