Flocking for swarm systems with fixed topology in a changing environment
Zonggang LI
Yingmin JIA
摘要：This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment.Firstly,the controller for each agent is proposed by employing the error terms between the state of the agent and the average state of its neighbors.Secondly,a sufficient condition for the swarm to achieve flocking is presented under assumptions that the gradient of the environment is bounded and the initial position graph is connected.Thirdly,as the environment is a plane,it is further proved that the velocity of each agent finally converges to the velocity of the swarm center although not one agent knows where the center of the group is.Finally,numerical examples are included to illustrate the obtained results.
机标关键词：velocity ofsufficient conditionchanging environmenterror terms
资助基金：the National Natural Science Foundation of China(No.60374001.60334030)the Doctoral Fund of Ministry of Education of China(20030006003)the Commission of Science,Technology and Industry for National Defence(A2120061303)
论文发表日期：2008-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：7( 333-339 )
英文信息