Abstract:

How to make the swarm reach the desired speed with the intervention of soft control is studied to achieve speed control for the swarm flocking system. Soft control is introduced in the distributed system based on local information interaction to interfere the movement of group, so that speed control for swarm flocking can be realized without changing the local information interaction rule of the swarm. Algebraic graph theory and LaSalle invariance principle are used to analyse the stability of the system with soft control. Simulation experiments have been done to verify the designed control strategy and the results show that the proposed control strategy enables the swarm robots system to reach flocking behavior.

Key words: swarm robots, flocking, soft control, analysis of stability