【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.更多还原

【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 in uences,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.更多还原