主从Cucker-Smale系统的有限时间蜂拥行为
Finite-time flocking behavior of leader-following Cucker-Smale system

基于有限时间稳定性理论,研究主从Cucker-Smale系统的有限时间蜂拥行为。通过李雅普诺夫函数方法,得到蜂拥在有限时间发生所需的条件。研究结果表明:收敛时间和种群规模以及智能体与领导者之间的耦合强度有关。收敛时间随种群规模和耦合强度的增大而减小。在数值模拟中,速度和速度差的演化曲线证实了理论结果的可靠性。
Based on the finite-time stability theory, the finite-time flocking behavior of leader-following Cucker-Smale systems was studied. By using Lyapunov function approach, sufficient conditions were provided to ensure the finite-time flocking. It was shown that the convergence time depended on the group size and the coupling strength between agents and the leader. The convergence time decreased with the increasing of the group size and the coupling strength. The state trajectories of velocity and velocity error were provided to confirm the theoretical results with simulation examples.