Related papers: Decentralized adaptive synchronization in nonlinea…
In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with…
This paper is concerned with the study of scalability in nonlinear heterogeneous networks affected by communication delays and disturbances. After formalizing the notion of scalability, we give two sufficient conditions to assess this…
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given…
Sufficient conditions are derived for global asymptotic synchronization in a system of identical nonlinear electrical circuits coupled through linear time-invariant (LTI) electrical networks. In particular, the conditions we derive apply to…
In this paper, we study synchronization in the delayed discrete-time complex networks. Several criterions of synchronization stability for such networks are established. And illustrative examples are presented. The numerical simulations…
In this paper, we establish a few new synchronization conditions for complex networks with nonlinear and nonidentical self-dynamics with switching directed communication graphs. In light of the recent works on distributed sub-gradient…
In this work, the synchronization problem of a master-slave system of autonomous ordinary differential equations (ODEs) is considered. Here, the systems are, chaotic with a nonlinearity represented by a piecewise linear function,…
This paper studies cooperative tracking problem of heterogeneous Euler-Lagrange systems with an uncertain leader. Different from most existing works, system dynamic knowledge of the leader node is unaccessible to any follower node in our…
We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
In this paper we propose a decentralized sensor network scheme capable to reach a globally optimum maximum likelihood (ML) estimate through self-synchronization of nonlinearly coupled dynamical systems. Each node of the network is composed…
This work is concerned with the design and effects of the synchronization gains on the synchronization problem for a class of networked distributed parameter systems. The networked systems, assumed to be described by the same evolution…
Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in continuous-time. It is well-known, however, that the passivity…
This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems.…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
In this paper we consider distributed adaptive stabilization for uncertain multivariable linear systems with a time-varying diagonal matrix gain. We show that uncertain multivariable linear systems are stabilizable by diagonal matrix high…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…
This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics. Two distributed adaptive dynamic consensus protocols are proposed, based on the relative output information of…
This paper presents an application of partial contraction analysis to the study of global synchronization in discrete chaotic systems. Explicit sufficient conditions on the coupling strength of networks of discrete oscillators are derived.…