Modelling and stability analysis of

时间:2021-08-03 13:08:31 自然科学论文 我要投稿
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Modelling and stability analysis of emergent behavior of scalable swarm system

Abstract:In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the individual flocking behavior to the local goal position (the center of minimal circumcircle decided by the neighbors in the positive visual set of individuals) resulting from the individual motion to one or two farthest neighbors in its positive visual set; the second layer describes the emergent aggregating swarm behavior resulting from the individual motion to its local goal position. The scale of the swarm will not be limited because only local individual information is used for modelling in the two-layer topology. We study the stability properties of the swarm emergent behavior based on Lyapunov stability theory. Simulations showed that the swarm system can converge to goal regions while maintaining cohesiveness. 作者: Author: CHEN Shi-ming[1]  FANG Hua-jing[2] 作者单位: Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;School of Electrical and Electronic Engineering, East China JiaoTong University, Nanchang 330013, ChinaDepartment of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China 期 刊: 浙江大学学报A(英文版)   ISTICEISCI Journal: JOURNAL OF ZHEJIANG UNIVERSITY SCIENCE A 年,卷(期): 2006, 7(6) 分类号: N941 Keywords: Two-layer emergent model    Stability    Emergent behavior    Swarm    机标分类号: TN9 TP2 机标关键词: emergent behavior    Lyapunov stability theory    behavior based 基金项目: 国家高技术研究发展计划(863计划) Modelling and stability analysis of emergent behavior of scalable swarm system[期刊论文]  浙江大学学报A(英文版) --2006, 7(6)In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the individual flocking behavior to the local goal position (the center of minimal circumcircle ...

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