Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866913824600227840 |
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| author | Maffettone, Gian Carlo Boldini, Alain Porfiri, Maurizio di Bernardo, Mario |
| author_facet | Maffettone, Gian Carlo Boldini, Alain Porfiri, Maurizio di Bernardo, Mario |
| contents | We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower density dynamics, we establish feasibility conditions and develop two control architectures ensuring global stability. The first employs feed-forward control on the followers' and a feedback on the leaders' density. The second implements a dual feedback loop through a reference-governor that adapts the leaders' density based on both populations' measurements. Our methods, initially developed in a one-dimensional setting, are extended to multi-dimensional cases, and validated through numerical simulations for representative control applications, both for groups of infinite and finite size. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_01804 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems Maffettone, Gian Carlo Boldini, Alain Porfiri, Maurizio di Bernardo, Mario Systems and Control We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower density dynamics, we establish feasibility conditions and develop two control architectures ensuring global stability. The first employs feed-forward control on the followers' and a feedback on the leaders' density. The second implements a dual feedback loop through a reference-governor that adapts the leaders' density based on both populations' measurements. Our methods, initially developed in a one-dimensional setting, are extended to multi-dimensional cases, and validated through numerical simulations for representative control applications, both for groups of infinite and finite size. |
| title | Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2406.01804 |