A novel control algorithm for the self-organized fission behavior of flocking system with time delay

• Published in: International journal of control, automation, and systems Vol. 14; no. 4; pp. 986 - 997
• Main Authors: Yang, Panpan, Liu, Mingyong, Lei, Xiaokang, Song, Cheng
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.08.2016; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algebra; Analysis; Constants; Control; Control algorithms; Control systems; Control theory; Coupling; Engineering; Fission; Information; Mathematical models; Mechatronics; Nuclear fission; Regular Papers; Robotics; Simulation; Stimuli; Studies; Time delay; Unmanned aerial vehicles; 제어계측공학; Fission control; time delay; information coupling degree; flocking system
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-014-0518-1

This paper studies the self-organized fission control problem for flocking system with time delay. Both constant and time-varying time delay cases are considered. Firstly, a novel information coupling degree (ICD) based fission control algorithm, which is able to split a coherent flock into multiple sub-groups under conflict external stimuli, is proposed. Then, for the case of constant time delay, the sufficient conditions for the fission control algorithm is derived using Lyapunov-Razumikhin theorem. For the case of time-varying time delay, Lyapunov-Krasovskii functional method is adopted to obtain the sufficient conditions for the fission control algorithm in terms of linear matrix inequalities (LMIs). Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.