自推进粒子群的空间同步平行编队控制

Control for spatial synchronized parallel formation of self-propelled particles

平行编队是群体协作控制研究的一项重要内容,而其空间同步,即群体在某一方向上运动步调一致,也是至关重要.本文在耦合谐振子理论基础上,提出了一种全相互作用的变速度自推进粒子模型,设计了一种解决平行编队的空间同步问题的控制方法.该方法通过改变自推进粒子运动速度而引入粒子间空间距离信息,实现了所有粒子沿实轴或虚轴方向的空间同步平行编队,并证明了该方法的收敛性.最后给出了粒子群的空间同步平行编队的仿真例子.

Parallel formation is an important issue in the cooperative control for collective motion;its spatial synchronization collective motion along a certain direction in a space also vital.Based on the coupled oscillator theory,a model for all-to-all self-propelled particles with variable speed is proposed,and a control scheme to stabilize the model of the spatial synchronized parallel formation is developed.The space information is obtained for the control scheme to alter the speeds of self-propelled particles for achieving the spatial synchronized parallel formation along the real or imaginary axes.The convergence of the synchronization action is proved.Numerical simulations for spatial synchronized parallel formation of particles are performed.