Related papers: Decentralized control of large vehicular formation…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where…
Control of complex turbulent dynamical systems involving strong nonlinearity and high degrees of internal instability is an important topic in practice. Different from traditional methods for controlling individual trajectories, controlling…
Controlling real-world networked systems, including ecological, biomedical, and engineered networks that exhibit higher-order interactions, remains challenging due to inherent nonlinearities and large system scales. Despite extensive…
This paper provides a framework to evaluate the performance of single and double integrator networks over arbitrary directed graphs. Adopting vehicular network terminology, we consider quadratic performance metrics defined by the L2-norm of…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles, i.e. how input disturbances affect the distributed system for very long chains. There exist variants of string stability, like avoiding…
This work provides a framework for data-driven control of discrete time systems with unknown input-output dynamics and outputs controllable by the inputs. This framework leads to stable and robust real-time control of the system such that a…
This paper revisits the robustness analysis and distributed ${ H}_\infty$ controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the…
In this paper, we use the H2 norm associated with a communication graph to characterize the robustness of consensus to noise. In particular, we restrict our attention to trees and by systematic attention to the effect of local changes in…
In Part I of this paper, we have developed a novel $\mathcal{L}_1$ adaptive control architecture that enables fast adaptation and leads to uniformly bounded transient and asymptotic tracking for system's both signals, input and output,…
In this paper, we study the controllability and stabilizability properties of the Kolmogorov forward equation of a continuous time Markov chain (CTMC) evolving on a finite state space, using the transition rates as the control parameters.…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…
Dimensionality effects pose major challenges in high-dimensional and non-Euclidean data analysis. Graph-based two-sample tests and change-point detection are particularly attractive in this context, as they make minimal distributional…
In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
Urban transportation networks face significant challenges due to traffic congestion, leading to adverse environmental and socioeconomic impacts. Vehicular admission control (VAC) strategies have emerged as a promising solution to alleviate…
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…
This paper studies the problem of designing networks that are strong structurally controllable, and robust simultaneously. For given network specifications, including the number of nodes $N$, the number of leaders $N_L$, and diameter $D$,…