A Generalized Gazi-Passino Model With Coordinate-Coupling Matrices for Swarm Formation With Rotation Behavior

Fedele G., D'Alfonso L., GAZİ V.

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, vol.9, no.3, pp.1227-1237, 2022 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 9 Issue: 3
  • Publication Date: 2022
  • Doi Number: 10.1109/tcns.2022.3141012
  • Journal Name: IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Compendex, INSPEC, MathSciNet, zbMATH
  • Page Numbers: pp.1227-1237
  • Keywords: Agent based systems, autonomous systems, cooperative control, swarms, ARTIFICIAL POTENTIALS, VORTEX FORMATION, CONSENSUS, AGENTS, STABILIZATION, ARCHITECTURE, ALGORITHMS, FLOCKING, SYSTEMS, MOTION
  • Yıldız Technical University Affiliated: No

Abstract

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.