Controlling swarms towards flocks and mills
Optimization and Control
2021-11-18 v3
Abstract
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.
Keywords
Cite
@article{arxiv.2103.07304,
title = {Controlling swarms towards flocks and mills},
author = {José Carrillo and Dante Kalise and Francesco Rossi and Emmanuel Trélat},
journal= {arXiv preprint arXiv:2103.07304},
year = {2021}
}