Related papers: Similarity Decomposition Approach to Oscillatory S…
We present a methodology for synchronization of chaotic oscillators with linear feedback control. The proposed method is based on analyzing the chaotic oscillator as a multi-mode linear system and deriving sufficient conditions for…
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…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with…
This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…
Many network applications rely on the synchronization of coupled oscillators. For example, such synchronization can provide networked devices with a common temporal reference necessary for coordinating actions or decoding transmitted…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown…
We present a temporal decomposition scheme for solving long-horizon optimal control problems. In the proposed scheme, the time domain is decomposed into a set of subdomains with partially overlapping regions. Subproblems associated with the…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…
This paper is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. In stead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a…
We numerically study a directed small-world network consisting of attractively coupled, identical phase oscillators. While complete synchronization is always stable, it is not always reachable from random initial conditions. Depending on…
We propose and experimentally demonstrate a feedback control method that allows synchronizing the motion of a chain of several coupled nonlinear oscillators actuated through one end of the chain. The chain considered in this work is a…
In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an $n$-DoF open chain robotic manipulator. Descending from the VDC strategy, the proposed design is based on decomposing the…
This paper explores the novel concept of damping controller coordination, which aims to minimize the Total Action metric by identifying an optimal switching combination (on/off) of these controllers. The metric is rooted in power system…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
In-phase synchronization is a special case of synchronous behavior when coupled oscillators have the same phases for any time moments. Such behavior appears naturally for nearly identical coupled limit-cycle oscillators when the coupling…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
In this paper we study a family of controllers that guarantees attitude synchronization for a network of elements in the unit sphere domain, i.e. $\mathcal{S}^2$. We propose distributed continuous controllers for elements whose dynamics are…