Related papers: Guaranteed Cost Tracking for Uncertain Coupled Mul…
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 article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler- Lagrange agents. The investigation establishes that: (1) there…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a…
This paper presents several results on performance analysis for a class of uncertain linear quantum systems subject to either quadratic or non-quadratic perturbations in the system Hamiltonian. Also, coherent guaranteed cost controllers are…
We consider the optimal multi-agent persistent monitoring problem defined by a team of cooperating agents visiting a set of nodes (targets) on a graph with the objective of minimizing a measure of overall node state uncertainty. The…
We study the numerical realisation of optimal consensus control laws for agent-based models. For a nonlinear multi-agent system of Cucker-Smale type, consensus control is cast as a dynamic optimisation problem for which we derive…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
This paper proposes a quantum framework for the design of communication topologies in consensus-based multi-agent systems. The communication graph is selected online by solving a mixed-integer quadratic program (MIQP) that minimizes a cost…
In bipartite consensus tracking (BCT) tasks for nonlinear multiagent systems, stochastic disturbances and actuator faults are regarded as essential factors that hamper effective controller formulation and tracking precision improvement. To…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…
In this paper, structural controllability of a leader-follower multi-agent system with multiple leaders is studied from a graph-theoretic point of view. The problem of preservation of structural controllability under simultaneous failures…
This paper introduces a novel approach of clustering, which is based on group consensus of dynamic linear high-order multi-agent systems. The graph topology is associated with a selected multi-agent system, with each agent corresponding to…