On Spatial Cohesiveness of Second-Order Self-Propelled Swarming Systems

DOI10.1137/23M1553388MaRDI QIDQ6179680zbMATH OpenFDO

Publication date 18 December 2023

Published in SIAM Journal on Applied Mathematics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2110.06344

dissipative systems Lyapunov functions multiparticle systems oscillators swarms

Growth and boundedness of solutions to ordinary differential equations (34C11) Qualitative investigation and simulation of ordinary differential equation models (34C60) Asymptotic properties of solutions to ordinary differential equations (34D05) Stability of solutions to ordinary differential equations (34D20) Interacting particle systems in time-dependent statistical mechanics (82C22) Animal behavior (92D50)

Abstract: The study of emergent behavior of swarms is of great interest for applied sciences. One of the most fundamental questions for self-organizing swarms is whether the swarms disperse or remain in a spatially cohesive configuration. In the paper we study dissipativity properties and spatial cohesiveness of the swarm of self-propelled particles governed by the model

d d o t r_{k} = - p_{k} (| d o t r_{k} |) d o t r_{k} - s u m_{m} a_{k, m} r_{m}

, where

r_{k} i n m a t h b b R^{d}

,

k = 1, l d o t s, n

, and

A = a_{k, m}

is a symmetric positive-semidefinie matrix. The self-propulsion term is assumed to be continuously differentiable and to grow faster than

1 / z

, that is,

p_{k} (z) z o i n f t y

as

z o i n f t y

. We establish that the velocity and acceleration of the particles are ultimately bounded. We show that when

k e r (A)

is trivial, the positions of the particles are also ultimately bounded. For systems with

k e r (A) e q 0

, we show that, while the system might infinitely drift away from its initial location, the particles remain within a bounded distance from the generalized center of mass of the system, which geometrically coincides with the weighted average of agent positions. The weights are determined by the coefficients of the projection matrix onto

k e r (A)

. We also include the proof of the ultimate boundedness of velocities and accelerations for systems with bounded coupling, including systems coupled via the Morse potential. In our proof we switch to the velocity-acceleration coordinates and focus on the study of dissipativity properties for a more general class of Li'enard systems

d d o t x_{k} = - m a t h b b F_{k} (x_{k}) c d o t d o t x_{k} - s u m_{m} a_{k, m} x_{m}

,

k = 1, l d o t s, n

,

m a t h b b F_{k} (x) = a b l a F_{k} (x)

with

F_{k} : m a t h b b R^{d} i g h t a r r o w m a t h b b R^{d}

given by

F_{k} (x) = p_{k} (| x |) x

.

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