“…Finally, an example is given to validate the theoretical results.Collective cooperative behavior occurs widely in nature, e.g., a flock of birds flying in a certain shape [38], the rhythmic flicker of fireflies[5], ants build nests and forage [24], and so on. Synchronization is a hot topic in collective behavior [7,19,25,28,31]. There are many mathematical models describing the synchronization phenomena, such as Winfree model [16], Vicsek model[40], a swarm sphere model [15] , Kuramoto model [22,23].…”