Modeling and Control of Scalable Engineering Swarm

In this paper we propose a two-layer emergent model for flocking behavior of intelligent engineering swarm system. The first emergent layer describe the flocking behavior of swarm resulting from the individual motion to its local goal position, the center of minimal circumcircle which is decided by the neighbors in the positive visual set of individual; the second one describe the individual flocking behavior to the local goal position resulting from the individual motion to one or two farthest neighbors in its positive visual set. The scale of the swarm will not be limited because only local individual information is used for modeling in the two-layer topology. We study the implementation method for engineering swarms with given vehicle dynamics based on sliding mode control. The simulations show that the swarm of intelligent system can converge to goal regions while maintaining cohesiveness.