Related papers: Coordination in multiagent systems and Laplacian s…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
The work done in this paper, proposes a complex Laplacian-based distributed control scheme for convergence in the multi-agent network. The proposed scheme has been designated as cascade formulation. The proposed technique exploits the…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that a group of agents with external inputs are selected as…
This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation,…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
In this paper, several necessary and sufficient graphical conditions are derived for the controllability of multi-agent systems by taking advantage of the proposed concept of controllability destructive nodes. A key step of arriving at this…
In this two-part paper, we identify a broad class of decentralized output-feedback LQG systems for which the optimal control strategies have a simple intuitive estimation structure and can be computed efficiently. Roughly, we consider the…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
This paper is concerned with the distributed linear quadratic optimal control problem. In particular, we consider a suboptimal version of the distributed optimal control problem for undirected multi-agent networks. Given a multi-agent…
In this paper, the time-varying formation and time-varying formation tracking problems are solved for linear multi-agent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated to the digraph. The…
This paper investigates spectral properties of the deformed Laplacian matrix, which merges the Laplacian and signless Laplacian matrices of a graph through a one-parameter family of matrices. We present general results on the eigenvalues of…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages…
This paper studies the trade-off between the degree of decentralization and the performance of a distributed controller in a linear-quadratic control setting. We study a system of interconnected agents over a graph and a distributed…
It is reported that dynamical systems over digraphs have superior performance in terms of system damping and tolerance to time delays if the underlying graph Laplacian has a purely real spectrum. This paper investigates the topological…
The spectrum of the normalized graph Laplacian yields a very comprehensive set of invariants of a graph. In order to understand the information contained in those invariants better, we systematically investigate the behavior of this…
Complex-valued Laplacians have been shown to be powerful tools in the study of distributed coordination of multi-agent systems in the plane including formation shape control problems and set surrounding control problems. In this paper, we…
In this paper we investigate the controllability and observability properties of a family of linear dynamical systems, whose structure is induced by the Laplacian of a grid graph. This analysis is motivated by several applications in…