Related papers: Guaranteed Performance Leader-follower Control for…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
In this paper, we study consensus problem in multi-agent system with directed topology by event-triggered feedback control. That is, at each agent, the diffusion coupling feedbacks are based on the information from its latest observations…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assumptions on the agents dynamics, we propose a distributed…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
Distributed dynamic compensators, also known as distributed observer, play a key role in the output consensus problem of heterogeneous nonlinear multi-agent systems. However, most existing distributed dynamic compensators require either the…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a directed and fully…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
The consensus problem for multi-agent systems with quantized communication or sensing is considered. Centralized and distributed self-triggered rules are proposed to reduce the overall need of communication and system updates. It is proved…
This work aims to address the design of fully distributed control protocols for stochastic consensus, and, for the first time, establishes the existence and uniqueness of solutions for the path-dependent and highly nonlinear closed-loop…
This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
This work addresses the output consensus problem of constrained heterogeneous multi-agent systems under a switching network with potential communication delays, where outputs are periodic and characterized by an exosystem. Since periodic…