Related papers: Graph-Theoretic Characterizations of Structural Co…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
One version of the concept of structural controllability defined for single-input systems by Lin and subsequently generalized to multi-input systems by others, states that a parameterized matrix pair $(A, B)$ whose nonzero entries are…
It is typical to assume that there is no conflict of interest among leaders. Under such assumption, it is known that, for a multi-agent system with two leaders, if the followers' interaction subgraph is undirected and connected, then…
The leader-following consensus problem for general linear multi-agent systems over jointly connected switching networks has been a challenging problem and the solvability of the problem has been limited to the class of linear multi-agent…
In this paper, we discuss the controllability of a family of linear time-invariant (LTI) networks defined on a signed graph. In this direction, we introduce the notion of positive and negative signed zero forcing sets for the…
The interaction of distinct units in physical, social, biological and technological systems naturally gives rise to complex network structures. Networks have constantly been in the focus of research for the last decade, with considerable…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…
The guaranteed-performance consensualization for high-order linear and nonlinear multiagent systems with switching topologies is respectively realized in a completely distributed manner in the sense that consensus design criteria are…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
In this paper, we address the multiconsensus problem in networked systems, where agents are partitioned into disjoint subgroups and the states of agents within a subgroup are driven to consensus. Our objective is to present a distributed…
This paper studies consensus problems for multi-agent systems defined on directed graphs where the consensus dynamics involves nonlinear and discontinuous functions. Sufficient conditions, involving the nonlinear functions and the topology…
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…
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 $D$,…
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…
This paper mainly investigates consensus problem with pull-based event-triggered feedback control. For each agent, the diffusion coupling feedbacks are based on the states of its in-neighbors at its latest triggering time and the next…
This work studies the effects of a weak notion of symmetry on diffusively-coupled multi-agent systems. We focus on networks comprised of agents and controllers which are maximally equilibrium independent passive, and show that these…
Network control theory has recently emerged as a promising approach for understanding brain function and dynamics. By operationalizing notions of control theory for brain networks, it offers a fundamental explanation for how brain dynamics…