Advances in Model Predictive Flocking: Analysis and Design
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Beschreibung
This thesis explores the analysis and design of model predictive flocking for the distributed control of multi-agent systems. A novel framework allowing for an independent tuning of attractive and repulsive inter-agent forces is introduced. With respect to the analysis, challenges and shortcomings in existing results are discussed, and a line of reasoning based on the stability of sets of equilibria is presented. Additionally, a novel framework for flocking with elliptical desired formations is introduced for predictive and non-predictive settings, providing analysis results for both cases. The proposed frameworks are validated through simulation.
Autor*in
Philipp Hastedt
Themen in »Advances in Model Predictive Flocking: Analysis and Design«
Control Theory Model Predictive Control Multi-Agent Systems