Autor: |
Gamonal, Manuela, Beckers, Thomas, Pappas, George J., Colombo, Leonardo J. |
Rok vydání: |
2021 |
Předmět: |
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Druh dokumentu: |
Working Paper |
Popis: |
Flocking control of multi-agents system is challenging for agents with partially unknown dynamics. This paper proposes an online learning-based controller to stabilize flocking motion of double-integrator agents with additional unknown nonlinear dynamics by using Gaussian processes (GP). Agents interaction is described by a time-invariant infinitesimally minimally rigid undirected graph. We provide a decentralized control law that exponentially stabilizes the motion of the agents and captures Reynolds boids motion for swarms by using GPs as an online learning-based oracle for the prediction of the unknown dynamics. In particular the presented approach guarantees a probabilistic bounded tracking error with high probability. |
Databáze: |
arXiv |
Externí odkaz: |
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