Related papers: Controllability of Formations over Time-varying Gr…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
Let $G$ be a simple, undirected graph on the vertex set $V=\{1,2,\ldots ,n\}$ and let $A$ be the adjacency matrix of $G.$ A non-empty subset $ \{i_{1},i_{2},\ldots ,i_{k}\}$ of $V$ is called a driver set for $G$ if the system…
As the scale of networked control systems increases and interactions between different subsystems become more sophisticated, questions of the resilience of such networks increase in importance. The need to redefine classical system and…
Despite the significant advances in identifying the driver nodes and energy requiring in network control, a framework that incorporates more complicated dynamics remains challenging. Here, we consider the conformity behavior into network…
This paper presents new graph-theoretic conditions for structural target controllability of directed networks. After reviewing existing conditions and highlighting some gaps in the literature, we introduce a new class of network systems,…
This work proposes an extension to the leader-first follower (LFF) class of graphs used to solve the bearing-only formation control problem over directed graphs. The first contribution provides an equilibrium, stability, and convergence…
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…
The paper is devoted to the controllability problem for 3D compressible Euler system. The control is a finite-dimensional external force acting only on the velocity equation. We show that the velocity and density of the fluid are…
This paper develops a structural theory of unique shortest paths in real-weighted graphs. Our main goal is to characterize exactly which sets of node sequences, which we call path systems, can be realized as unique shortest paths in a graph…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
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 $D$,…
Using the semigroup approach to abstract boundary control problems we characterize the space of all exactly reachable states. Moreover, we study the situation when the controls of the system are required to be positive. The abstract results…
Recent work in the area of interdependent networks has focused on interactions between two systems of the same type. However, an important and ubiquitous class of systems are those involving monitoring and control, an example of…
This paper studies the problem of selecting input nodes (leaders) to make networks strong structurally controllable despite misbehaving nodes and edges. We utilize a graph-based characterization of network strong structural controllability…
Controllability determines whether a system's state can be guided toward any desired configuration, making it a fundamental prerequisite for designing effective control strategies. In the context of networked systems, controllability is a…
We study the dynamics of systems on networks from a linear algebraic perspective. The control theoretic concept of controllability describes the set of states that can be reached for these systems. Under appropriate conditions, there is a…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid…
Controllability properties are studied for control-affine systems depending on a parameter and with constrained control values. The uncontrolled systems in dimension two and three are subject to a homoclinic bifurcation. This generates two…