Swarm Control for Self-Organized System with Fixed and Switching Topology

In this article, we propose the swarm control for a self-organized system with fixed and switching topology, which can realize aggregation, dispersion, or switching formation when swarm moves. The self-organized system can automatically construct the communication topology for intelligent units in swarm. Swarm control can realize aggregation and dispersion of intelligent units based on its communication topology when swarm moves. The proposed swarm control, in which distances between the related intelligent units are time varying, is different from traditional swarm consensus or swarm formation maintenance. To design swarm control, we define the normalization adjacency matrix and normalization degree matrix based on communication topology. The communication topology is automatically generated based on relation-invariable persistent formation. Depending on whether the communication topology changes or not, the swarm control can be classified as fixed topology and switching topology. Then, the swarm control with fixed and switching topology is designed and analyzed, respectively. The swarm control can realize stability asymptotically when topology is fixed and realize stability in finite time when topology is switched. The simulation results show that the proposed approaches are effective.