IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, vol.9, no.3, pp.1227-1237, 2022 (SCI-Expanded)
In this article, a kinematic continuous time swarm model is considered by extending the results in the paper "A class of attractions/repulsion functions for stable swarm aggregations" (as shown in the International Journal of Control, vol. 77, pages 1567-1579). The extension regards a more general class of attraction/repulsion functions that can be used to explain the formation of rotational patterns in a swarm of agents. The main characteristic of this model is the introduction of two coordinate-coupling matrices weighting both the attractive and the repulsive interactions among the agents. A stability analysis is presented to characterize the swarm in terms of size and cohesiveness. Moreover, a class of attraction/repulsion functions is presented to guarantee the cohesiveness of the swarm in a polytopic region and a steady-state motion of the agents in a rotational frame around the swarm centroid. Numerical simulations are provided to illustrate the obtained results.