2020/09/30 by Leonardo Colombo, Patricio Moreno, Colombo, Leonardo +8
Computer Science · Engineering · Mathematics · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Mathematical Biology Tumor Growth #Nonlinear Dynamics and Pattern Formation #Systems and Control (eess.SY) #cs.SY #eess.SY #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2009.14495
Presented at IFAC World Congress 2020, 6 pages + refs
arxiv created 2020/09/30 · openalex publication_date 2020/09/30 · arxiv updated 2020/10/01 · openalex created_date 2020/10/08 · openalex updated_date 2026/07/28
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.