| 群体动力学与协调控制研究中的若干问题 |
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| 引用本文： | 楚天广,杨正东,邓魁英,王龙,谢广明.群体动力学与协调控制研究中的若干问题[J].控制理论与应用,2010,27(1):86-93. |
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| 作者姓名： | 楚天广 杨正东 邓魁英 王龙 谢广明 |
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| 作者单位： | 北京大学工学院机器感知与智能教育部重点实验室,北京,100871 |
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| 基金项目： | 国家自然科学基金资助项目(60674047, 60674050, 60774089, 60736022); 教育部博士点基金资助项目(20060001013); 国家“863”计划资助项目(2006AA04Z247) . 本文初稿曾在2007年中国控制会议上交流. |
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| 摘 要： | 群体行为是自然界和社会中常见的现象, 探讨群体合作行为的机制和工程应用具有重要的意义. 本文从系统与控制的角度讨论当前群体动力学与协调控制研究中的一些基本问题, 评述文献中常见的群体系统模型, 分析群体系统的动态行为和系统关联拓扑结构之间的关系, 时变拓扑与连通性、通信时滞、以及外部作用的影响等. 给出在非对称耦合、时滞等情况下, 系统的聚集-振荡复杂行为的数值仿真结果.
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| 关 键 词： | 群体行为 协调控制 关联拓扑 通信时滞 能控性 收敛性 集体振荡 |
| 收稿时间： | 2008/12/18 0:00:00 |
| 修稿时间： | 2009/6/29 0:00:00 |
Problems in swarm dynamics and coordinated control |
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| CHU Tian-guang,YANG Zheng-dong,DENG Kui-ying,WANG Long and XIE Guang-ming.Problems in swarm dynamics and coordinated control[J].Control Theory & Applications,2010,27(1):86-93. |
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| Authors: | CHU Tian-guang YANG Zheng-dong DENG Kui-ying WANG Long and XIE Guang-ming |
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| Affiliation: | College of Engineering, Key Laboratory of Machine Perception(Ministry of Education), Peking University,College of Engineering, Key Laboratory of Machine Perception(Ministry of Education), Peking University,College of Engineering, Key Laboratory of Machine Perception(Ministry of Education), Peking University,College of Engineering, Key Laboratory of Machine Perception(Ministry of Education), Peking University,College of Engineering, Key Laboratory of Machine Perception(Ministry of Education), Peking University |
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| Abstract: | Swarming behavior is ubiquitous in nature and society. It is of both theoretical and practical importance to investigate the underlying principles and mechanisms of coordination and cooperation emerging in swarms. This paper
discusses some basic issues in swarm dynamics and coordinated control from the perspective of systems and control. Specifically, we review some typical swarm models proposed in the literature, and discuss the roles and effects of connection topology on swarm dynamics, as well as the effects of variable topologies, communication delays, and exogenous influences, etc. We also give some numerical simulation results to demonstrate the complex aggregation-oscillation behavior of swarms in the cases of asymmetric coupling and delayed communication. |
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| Keywords: | swarming behavior coordinated control connection topology communication delay controllability convergence collective oscillation |
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