EnsembleControlMass​Spring.zip

Simple example of ensemble control using a mass-spring model.

This is a simple example of ensemble control on a mass-spring model. Several masses are attached to springs, and the other end of the springs are attached to a linear motor. The parameters of the mass-spring model are bounded but unknown. The position and the speed of the masses are used as states of the model. In this example, the position and the speed of the different mass-spring systems will be steered from the same initial state to the same desired final state with a certain degree of accuracy, dependent on the order of ensemble control. To do this, a discrete-time input is precalculated, which is then used to simulate the models using Simulink. The mathematics of ensemble control are explained in the workshop below:
http://telerobot.cs.tamu.edu/UiA2011/slides/BretlICRA-Workshop/BretlICRA-Workshop.pdf