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Formation control problems for second-order unmanned aerial vehicle (UAV) swarm systems with switching topologies to achieve the time-varying formation and the predefined time-varying formation reference are investigated. The second-order UAV swarm systems considered are not only required to achieve the specified time-varying formation but also track the predefined time-varying formation reference,...
This paper presents a new approach for solving optimal control problems for switched systems with prespecified order of the sequence of subsystems. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. The optimal control problem for hybrid systems is transcribed into an equivalent problem parameterized by the switching instants and the control vectors...
In this paper, a direct learning control method for a class of switched systems is proposed. The objective of direct learning is to generate the desired control profile for a newly switched system without any feedback, even if the system may have uncertainties. This is achieved by exploring the inherent relationship between any two systems before and after a switch. The new method is applicable to...
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