Distributed Optimal Control of Multiscale Dynamical Systems: A Tutorial


Many complex systems, starting from renewable resources [one] to terribly-large-scale robotic systems (VLRS) [two], will be described as multiscale dynamical systems comprising several interactive agents. In recent years, important progress has been created in the formation control and stability analysis of teams of agents, such as robots, or autonomous vehicles. In these systems, the mutual goals of the agents are, for instance, to take care of a desired configuration, such as a triangle or a star formation, or to perform a desired behavior, like translating as a cluster (schooling) or maintaining the middle of mass of the cluster (flocking) [two]-[seven]. While this literature has successfully illustrated that the behavior of enormous networks of interacting agents will be conveniently described and controlled by density functions, it's yet to produce an approach for optimizing the agent density functions such that their mutual goals are optimized.

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