控制蜂群向羊群和磨坊靠近
Controlling swarms towards flocks and mills
摘要：
研究了具有自推进和势能项的二阶群集系统的自组织与控制问题。它表明，通过约束控制的作用，是可能的，以控制任何初始配置的羊群或轧机。证明建立在几个参数的适当组合：拉萨尔不变原理和李雅普诺夫减少泛函，控制线性化技术，和准静态变形。二阶系统的稳定性分析指导反馈法的设计，以稳定的羊群和轧机，这也是计算评估。
英文摘要：
Self-organization and control around flocks and mills is studied for second-order swarming systems involving self-propulsion and potential terms. It is shown that through the action of constrained control, is it possible to control any initial configuration to a flock or a mill. The proof builds on an appropriate combination of several arguments: LaSalle invariance principle and Lyapunov-like decreasing functionals, control linearization techniques, and quasi-static deformations. A stability analysis of the second-order system guides the design of feedback laws for the stabilization to flock and mills, which are also assessed computationally.
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