Consensus Formation of 2D Maneuver Multi-Vehicle System With Self-Organized-Incremental Network

This article proposes a self-organized incremental formation (SOIF) control framework based on incremental communication networks to achieve consensus control for 2-D maneuver multi-vehicle systems. The SOIF strategy assimilates newly added vehicles to expand the system's scale while autonomously establishing a stable communication network between the existing swarm and the incremental vehicles. To avoid unnecessary duplication, the existing network is updated to generate an incremental communication network that preserves the original structure and minimum persistence. Furthermore, a modified self-organized topology generation method is developed to enhance the effectiveness and efficiency of the SOIF updating process. The incremental swarm system is controlled using a sliding mode control (SMC) technique based on the incremental update method to handle system disturbances and achieve consensus formation. Finally, simulation results validate the effectiveness of the proposed control strategy.