Modeling and control through leadership of a refined flocking system

被引：53
作者：
Borzi, Alfio [1 ]
Wongkaew, Suttida [1 ]
机构：
[1] Univ Wurzburg, Inst Math, D-97074 Wurzburg, Germany
来源：
MATHEMATICAL MODELS & METHODS IN APPLIED SCIENCES | 2015年 / 25卷 / 02期
关键词：
Swarming systems; optimal control theory; Runge-Kutta method; CONJUGATE-GRADIENT METHOD; CUCKER-SMALE FLOCKING; SELF-ORGANIZATION; CONTINUUM-LIMIT; ANIMAL GROUPS; DYNAMICS; PARTICLE; DISTANCE; BEHAVIOR; DESCENT;
D O I：
10.1142/S0218202515500098
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
A new refined flocking model that includes self-propelling, friction, attraction and repulsion, and alignment features is presented. This model takes into account various behavioral phenomena observed in biological and social systems. In addition, the presence of a leader is included in the system in order to develop a control strategy for the flocking model to accomplish desired objectives. Specifically, a model predictive control scheme is proposed that requires the solution of a sequence of open-loop optimality systems. An accurate Runge-Kutta scheme to discretize the optimality systems and a nonlinear conjugate gradient solver are implemented and discussed. Numerical experiments are performed that investigate the properties of the refined flocking model and demonstrate the ability of the control strategy to drive the flocking system to attain a desired target configuration and to follow a given trajectory.
引用
收藏
页码：255 / 282
页数：28
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