群体动力学及协调控制.pdfVIP

Proceedings of the 26th Chinese Control Conference July 26-31, 2007, Zhangjiajie, Hunan, China * 100871 E-mail: chutg@pku.edu.cn : - : Swarm Dynamics and Coordinated Control Chu Tianguang, Chen Zhifu, Wang Long, Xie Guangming Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, P.R.China E-mail: chutg@pku.edu.cn Abstract: Swarming behavior is ubiquitous in nature and society. It is of both theoretical and practical importance to investi- gate the underlying principles and mechanism of coordination and cooperation emerging in swarms. This paper discusses the basic issues in this direction in the field of systems and control. We review some swam models commonly studied in the lit- erature, analyze the roles and effects of connection topology on swarm dynamics, as well as the effects of variable topologies, communication delays, and exogenous influences etc. We also give some numerical simulation results to demonstrate complex aggregation-oscillation behavior of swarms in the cases of asymmetric coupling and delayed communication. Key Words: Swarming behavior, coordinated control, connection topology, communication delay, convergence, collective os- cillation 1 (Introduction) (swarming behavior)