How to run: Use the sliders and dropdowns on the left to adjust parameters in real-time.
Press ▶ Run to start, ⏸ Pause to stop, and ↺ Reset to restart.
The simulation runs until Tmax and then stops automatically. You can also pause and adjust parameters mid-simulation.
Models from Gombo, Tiwari, Devasia (ACC2021 Paper). Update laws: Standard Y[m+1] = (I − γ δt K) Y[m] + γ δt B yd[m]
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DSR Y[m+1] = Y[m] − αβ δt K Y[m] + αβ δt B yd[m] + [I − βK](Y[m] − Y[m−1])
1.00
2.0
0.030
1.00
1.00
0.500
0.00
1.00
0.20
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Agent States (index vs y)
Blue: Standard • Green: DSR • Grey line shows desired yd (scalar)
Y-axis fixed using computed bounds based on inputs (so it won't autoscale each frame).
Deformation & Tracking (history)
Tracks max deformation D = max(y) − min(y) and worst-case tracking error maxk|yk − yd| for both methods.
Time vs Agent Positions
Thin traces: per-agent; Bold traces: mean across agents (Std & DSR).