Continuification Control of Large-Scale Multiagent Systems in a Ring

Gian Carlo Maffettone, Alain Boldini, Mario Di Bernardo, Maurizio Porfiri

Research output: Contribution to journalArticlepeer-review


In this Letter, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microscopic, agent-level description of the system dynamics into a macroscopic, continuum-level representation, which we employ to synthesize a control action towards a desired distribution of the agents. The continuum-level control action is then discretized at the agent-level in order to practically implement it. To confirm the effectiveness and the robustness of the proposed approach, we complement theoretical derivations with numerical simulations.

Original languageEnglish (US)
Pages (from-to)841-846
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2023


  • Agents-based systems
  • distributed parameter systems
  • large-scale systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


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