Controlling Swarms toward Flocks and Mills

Self-organization and control around flocks mills is studied for second-order swarming systems involving self-propulsion potential terms. It shown that through the action of constrained control, it possible to any initial configuration a flock or mill. The proof builds on an appropriate combination several arguments: LaSalle invariance principle Lyapunov-like decreasing functionals, linearization techniques, quasi-static deformations. A stability analysis system guides design feedback laws stabilization mills, which are also assessed computationally.