Abstract
Swarm intelligence, a nature-inspired concept that includes multiplicity, stochasticity, randomness, and messiness is emergent in most real-life problem-solving. The concept of swarming can be integrated with herding predators in an ecological system. This paper presents the development of stabilizing velocity-based controllers for a Lagrangian swarm of $n\in \mathbb{N}$ individuals, which are supposed to capture a moving target (intruder). The controllers are developed from a Lyapunov function, total potentials, designed via Lyapunov-based control scheme (LbCS) falling under the classical approach of artificial potential fields method. The interplay of the three central pillars of LbCS, which are safety, shortness, and smoothest course for motion planning, results in cost and time effectiveness and efficiency of velocity controllers. Computer simulations illustrate the effectiveness of control laws.
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