Related papers: Robust self-triggered coordination with ternary co…
We propose self-triggered control schemes for nonlinear systems with quantized state measurements. Our focus lies on scenarios where both the controller and the self-triggering mechanism receive only the quantized state at each sampling…
Future communication networks are expected to feature autonomic (or self-organizing) mechanisms to ease deployment (self-configuration), tune parameters automatically (self-optimization) and repair the network (self-healing).…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
We study the problem of strong coordination of actions of two agents $X$ and $Y$ that communicate over a noisy communication channel such that the actions follow a given joint probability distribution. We propose two novel schemes for this…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Two remote agents with synchronized clocks may use them to act in concert and communicate. This necessitates some means of creating and maintaining synchrony. One method, not requiring any direct interaction between the agents, is to expose…
In this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their…
We study synchronization for linearly coupled temporal networks of heterogeneous time-dependent nonlinear agents via the convergence of attracting trajectories of each node. The results are obtained by constructing and studying the…
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
With the gradual advancement of a novel idea of the distributed control of the multiagent systems, an event-triggered control protocol has received significant research attention, especially in designing the controller for the nonlinear…
This paper studies stochastic aperiodic stabilization of a networked control system (NCS) consisting of a continuous-time plant and a discrete-time controller. The plant and the controller are assumed to be connected by communication…
In a distributed algorithm, multiple processes, or agents, work toward a common goal. More often than not, the actions of some agents are dependent on the previous execution (if not also on the outcome) of the actions of other agents. The…
We consider a three-node network, in which two agents wish to communicate over a noisy channel, while controlling the distribution observed by a third external agent. We use strong coordination to constrain the distribution, and we provide…
This paper proposes a reinforcement learning (RL)-based backstepping control strategy to achieve fixed time consensus in nonlinear multi-agent systems with strict feedback dynamics. Agents exchange only output information with their…
We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…