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		Zonggang LI,Yingmin JIA.[en_title][J].Control Theory and Technology,2008,6(3):333~339.[Copy]

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ZonggangLI,YingminJIA
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Received:June 15, 2006Revised:July 16, 2007

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Flocking for swarm systems with fixed topology in a changing environment

Zonggang LI, Yingmin JIA

(The Seventh Research Division, Beihang University, Beijing 100083, China)

Abstract:

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.

Key words: Swarm Multi-agent systems Flocking Collective behavior Ultimately bounded analysis