This document considers hostile conflicts between two swarms, called pursuers and evaders, based on a double integrator model. In order to convert the marginally stable dynamics into stable-capture behavior, we introduce a control strategy based on the relative positions and velocities of opposing swarm members. To evaluate its effectiveness, a Lyapunov-based stability analysis is performed. For simplicity, this document considers swarms with equal membership strengths and equal mass only. The modeling is based on a set of suggested interaction force profiles, which are functions of local vectors. The group pursuit is conceived in two phases: the approach phase during which the two swarms act like two individuals; and the assigned pursuit phase where each pursuer is assigned to an evader.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
A Lyapunov Treatment of Swarm Coordination Under Conflict
Paul McCullough
,
Paul McCullough
University of Connecticut, Storrs, CT
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Mark Bacon
,
Mark Bacon
University of Connecticut, Storrs, CT
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Nejat Olgac
,
Nejat Olgac
University of Connecticut, Storrs, CT
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Daniel A. Sierra
Daniel A. Sierra
University of Connecticut, Storrs, CT; Universidad Industrial de Santander, Bucaramanga, Colombia
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Paul McCullough
University of Connecticut, Storrs, CT
Mark Bacon
University of Connecticut, Storrs, CT
Nejat Olgac
University of Connecticut, Storrs, CT
Daniel A. Sierra
University of Connecticut, Storrs, CT; Universidad Industrial de Santander, Bucaramanga, Colombia
Paper No:
DSCC2009-2509, pp. 691-698; 8 pages
Published Online:
September 16, 2010
Citation
McCullough, P, Bacon, M, Olgac, N, & Sierra, DA. "A Lyapunov Treatment of Swarm Coordination Under Conflict." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 691-698. ASME. https://doi.org/10.1115/DSCC2009-2509
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