Bionic tracking-containment control based on smooth transition in communication

In this paper, we propose the bionic tracking-containment control based on smooth transition in communication, which is inspired by wolf hunting. To realize the hunting target process, we concentrate on the transition from tracking control to containment control of the swarm system by using backstepping method. The smooth transition of switching communication topology is introduced to realize bionic switching. We design a smooth switching function, which can avoid the negative influence of instant switch. Due to the input saturation and smooth switching function, it is challenging to design the tracking-containment controller with nonlinear dynamics and external disturbances. To overcome these difficulties, we design the tracking-containment control based on the adaptive backstepping method, which includes n command filters and one adaptive neural network to improve the control performance. The swarm system is proved stable under the Lyapunov stability criterion. Finally, simulation is carried out to verify the feasibility of the proposed method.