Crate distributed_control

A library for performing and analyzing distributed control

The primary uses involve creating a Multi-agent System (MAS), inspecting and analyzing the MAS, and then simulating the MAS through time.

The mas module defines the basic MAS structs, types, and traits with other modules supporting this primary module. However, the most commonly used functionality is re-exported to the top level for ease-of-use.

Examples:

use distributed_control as dc;
use dc::integrator::Integrator;
use ndarray::{array, Array1};

let lin_dyn = dc::LtiDynamics::new(array![[0.]], array![[1.]]);
let mas = dc::HomMas::new(&lin_dyn, 3);
let initial_states = array![-1., 0., 1.];
let laplacian = array![[1., -1., 0.], [-1., 2., -1.], [0., -1., 1.]];
let u = |_t: f64, x: &Array1<f64>| -laplacian.dot(x);

let states = dc::EulerIntegration::simulate(
    &(0..100).map(|i| i as f64 * 0.1).collect(),
    &initial_states,
    &mas,
    &u,
);
println!("{states}");
println!("{}", states.column(states.ncols() - 1));

Re-exports

pub use dynamics::LtiDynamics;

pub use integrator::EulerIntegration;

pub use mas::*;

Modules

control_laws

Define common/useful distributed control laws for easy use as feedback control for distributed systems.

control_theory

This module contains common control-theoretic functions or computations.

dynamics

Define the various types of MAS dynamics.

graphs

This module contains abstractions for algebraic graph concepts. E.g., adjacency, degree, laplacian, incidence, and edge weight matrices.

integrator

Define integrators for dynamic systems. E.g., Euler, RK45, etc.

lorp

Linear Output Regulation Problem solutions/functionality.

mas

This module contains the primary structs, types, and traits for use in defining and analyzing a Multi-agent System (MAS).