Time-varying formation control with smooth switching communication

This paper studies the communication smooth switching problem of time-varying formation control. When the formation system performs topology switching, sudden changes in communication will cause communication failure and affect formation control. To avoid this adverse impact, we introduce a smooth transition function of communication topology. At the same time, for the formation system with unknown nonlinear dynamics, an adaptive backstepping controller combining the backstepping control method and the fuzzy logic system is designed. Then, based on Lyapunov stability theory, we prove the stability of the designed controller. The results of the simulation experiments can verify the effectiveness of the designed controller.