Reduced-order model predictive control of a fish schooling model

DOI10.1016/J.NAHS.2023.101342MaRDI QIDQ6116269zbMATH OpenOpenAlexFDO

Authors Masaki Ogura, Naoki Wakamiya

Publication date 18 July 2023

Published in Nonlinear Analysis. Hybrid Systems (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2303.02334

zbMATH Keywords

model order reductionMPCswarm control

Mathematics Subject Classification ID

Animal behavior (92D50) System structure simplification (93B11) Model predictive control (93B45)

Abstract: We study the problem of model predictive control (MPC) for the fish schooling model proposed by Gautrais et al. (Annales Zoologici Fennici, 2008). The high nonlinearity of the model attributed to its attraction/alignment/repulsion law suggests the need to use MPC for controlling the fish schooling's motion. However, for large schools, the hybrid nature of the law can make it numerically demanding to perform finite-horizon optimizations in MPC. Therefore, this paper proposes reducing the fish schooling model for numerically efficient MPC; the reduction is based on using the weighted average of the directions of individual fish in the school. We analytically show how using the normalized eigenvector centrality of the alignment-interaction network can yield a better reduction by comparing reduction errors. We confirm this finding on the weight and numerical efficiency of the MPC with the reduced-order model by numerical simulations. The proposed reduction allows us to control a school with up to 500 individuals. Further, we confirm that reduction with the normalized eigenvector centrality allows us to improve the control accuracy by factor of five when compared to that using constant weights.

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Cites work

• Axioms for Centrality
• Bio-inspired evolutionary dynamics on complex networks under uncertain cross-inhibitory signals
• Collective behavior and evolutionary games -- an introduction
• Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
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• Linear Reduced-Order Model Predictive Control
• Multiagent Decision-Making Dynamics Inspired by Honeybees
• Schrödinger Approach to Optimal Control of Large-Size Populations
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