Module distributed_control::dynamics

Define the various types of MAS dynamics.

Structs

• LtiDynamics
  Implement linear, time-invariant (LTI) dynamics. I.e., $\dot{x} = A x + B u$.

Traits

• Dynamics
  Continuous-time dynamics of the form $\dot{x} = f(t, x, u)$. I.e., fully non-linear and time-varying dynamics.
• MasDynamics
  Multi-agent system dynamics with possibly heterogeneous dynamics for each agent.

Functions

• compact_dynamics
  Provide a conversion from agent-wise to compact dynamics. I.e., the state and input vectors (x and u) are comprised of the state and input of each agent stacked/concatenated.
• compact_output
  Provide a conversion from agent-wise to compact output.