Analysis Of Flocking For Several Kinds Of Swarm Intelligence Models

There are striking movement scenes in the biological population,such as the ”aerial ballet” of European starlings and the gathering and migration of fish.Scientists explain the behavior of biological swarm from the perspective of theoretical modeling.So far,abundant research results have been accumulated and applied in swarm intelligence system,such as UAV formation and UAV cooperative operation.However,in the wide application of cluster technology,some practical problems are worth considering,such as collision avoidance within the group,the influence of time delay and the synchronization of the leadership group.This paper intends to address the the above-mentioned questions and carry out corresponding work around these.1.In view of the problem of collision-free clusters during the evolution of multiparticle flocking behavior,a class of swarm intelligence model with external forces and singular influence functions is studied.The conditions for this group to converge to form a flock and implementation of collision avoidance are given.We show that the system will can avoid collision internally and converge asymptotically to form a flock.2.In view of the ampacts of delay on the evolution of multi-particle flocking behavior,the concept of measurement delay is introduced and a flock model with this delay is studied.Asymptotic flocking conditions related to measurement delay are established and obtained.In addition,the control range of the measurement delay affecting the flocking,the analytical expressions for the flock radius and asymptotic flocking velocity are given respectively.Taking a two-particle system as an example,it is proved that the formation of the system cluster behavior is related to this delay.3.In view of the problem of collision-free flocking of time-delay systems,a general model was developed to characterize the collision avoidance of time-varying delay intelligent systems,and the conclusion that the coexistence of collision-free behavior and time-asymptotic flocking of time-delay systems was obtained.4.In view of the problem of fixed-time consensus of multi-particle systems with leader-follower structure,the fixed-time synchronization analysis of the system is completed,and the conclusion that each follower was synchronized with the leader within a fixed time was obtained.