Distributed coadaptive control for flocking of swarm in nonlinear environment

In this paper, a distributed coadaptive control algorithm inspired by behaviors of biology is presented for flocking of swarm agents system with dynamic topology in the nonlinear environment. And the nonlinear environment is described by a given potential function which is assumed to have finite bounded slopes. We prove that this controller can enable all the agents to converge to a surperball in finite time, all swarm members converge to a common velocity only by means of the local information, the finish time of flocking can be estimated and the spacing between every two different individuals is around a constant with time changing. Simulation results are proposed to verify the controller.