Global dynamic-behavior of a group of swarms in directed communication network
有向通讯网络下一类动态群体的整体动力学行为

This paper investigates global dynamic-behavior of a group of swarms in directed network by means of graph theory, matrix analysis and control theory. The swarms consist of many identical dynamical agents and each agent is stable in the sense of Lyapunov when it is disconnected from other agents. Each agent communicates the biased position information with its neighbors. When each dynamical agent employs a linear distributed protocol in communication network, the global dynamic-behaviors of swarms not only depend on the dynamic equations of agents, but also on the algebraic characteristics associated with the network topology. Moreover, algebraic criteria are developed for the agents to achieve gradual aggregation, periodical stability or divergence in trajectories. Finally, the simulation example shows the desired result.