Stability Analysis of Swarm Based on Double Integrator Model

  • Dan Jin
  • Lixin Gao
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4115)


In this paper, we consider an M -member individual-based continuous-time double integrator swarm model in an n-dimensional space. The swarm model based on the Newton’s law is more suitable to describe the swarm aggregation and has wide practical applications. We present stability analysis for the case of linear attraction and bounded repulsion to characterize swarm cohesiveness, size and ultimate motions while in a cohesive group. Finally, some numerical examples and simulation results are presented to illustrate the effectiveness of the swarm model.


Stability Analysis Double Integrator Cooperative Control Attraction Term Repulsion Term 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Dan Jin
    • 1
  • Lixin Gao
    • 1
  1. 1.Institute of Operations Research and Control SciencesWenzhou UniversityZhejiangChina

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