On Stability Analysis of Predictive Flocking Using N-Paths

Publikationstyp
Conference Paper
Date Issued
2023-12-13
Sprache
English
Author(s)
Hastedt, Philipp  
Regelungstechnik E-14  
Werner, Herbert  
Regelungstechnik E-14  
TORE-URI
https://hdl.handle.net/11420/45200
Citation
62nd IEEE Conference on Decision and Control (CDC 2023)
Contribution to Conference
62nd IEEE Conference on Decision and Control, CDC 2023  
Publisher DOI
10.1109/cdc49753.2023.10383938
Scopus ID
2-s2.0-85184804366
Publisher
IEEE
Most publications in the field of model predictive flocking (MPF) present frameworks without providing stability analyses for the proposed schemes. In those providing stability results, one specific line of reasoning is based on the geometric properties of the optimal state sequences, so-called NN -paths. This method is used in several publications to show stability for centralized and distributed MPF schemes. In this paper, we critically discuss this line of reasoning and point out several errors in the NN -path-based analysis. As incorrect statements in assumptions and lemmas cause the lines of reasoning to break, this raises the question of whether the N-path-based line of reasoning is suitable for the MPF stability analysis in general.