Abstract
An artificial swarm system consisting of multiagents is considered in this paper. The agents may interact with each other based on their relative position. Each agent exhibits a repulsion/attraction behavior toward another agent, which mimics some biological swarm systems. The performance of each individual agent is the accumulation of these respective considerations toward other agents. The overall performance of the swarm system is analyzed, which includes uniform boundedness, uniform ultimate boundedness, and convergence. This mimics aggregation and formation in biological systems. The control design for each agent toward achieving the performance is then proposed. The control is a mimic of nature’s strategy in constraining mechanical systems.
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