Soft Control for Swarm Systems with Simple Attraction and Repulsion Functions

This paper considers a swarm model with a class of simple attraction and repulsion functions and delves into the question of ¿soft control¿ for swarms system in Euclidean space, which disturb the collective behavior of the group by adding a few controlled intelligent agents at the condition of keeping the local rules of the existing agents in the system. This paper gives a control law for controlled intelligent agents according to the initial center and the expectant center, which can make the swarm center to an expectant position. Simulation testing shows the feasibility of soft control for swarms system.