engleski

ROS package for distributed control of networks of dynamical systems

In the field of distributed control of dynamical networks, the scientific community is currently focused on developing a general underlying theory for efficient control synthesis. However, a universal software framework for development, simulation, testing, and real-life implementation of control algorithms for such systems is still missing. This thesis explores the possibilities of developing such a tool, which would minimise the transition from simulation to implementation. A fully working framework has been developed and is now being presented, explaining in detail its architecture and usage. Several networks have been implemented inside it to prove its efficiency.

dynamical networks, distributed control, decentralised control, software framework, ROS

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