Related papers: H_inf Consensus of nonlinear complex multi-agent s…
In this technical note, we introduce a novel approach to studying consensus of continuous-time nonlinear systems with varying topology based on Hilbert metric. We demonstrate that this metric offers significant flexibility in analyzing…
This paper studies consensus of discrete-time multi-agent systems under time-varying directed communication, state and input constraints using a distributed multi-step model predictive control (MPC) framework. Consensus is recast as…
This paper studies the consensus problem for multiagent systems with transmission constraints. A novel model of multiagent systems is proposed where the information transmissions between agents are disturbed by irregular distortions or…
We provide a distributed coordinated approach to the stability analysis and control design of large-scale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
This paper presents a novel framework which combines a non-iterative solution of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve consensus within complex network topologies with existing time-delays and in…
We consider the global consensus problem for multi-agent systems with input saturation over digraphs. Under a mild connectivity condition that the underlying digraph has a directed spanning tree, we use Lyapunov methods to show that the…
The stabilization of uncertain LTI/LPV time delay systems with time varying delays by state-feedback controllers is addressed. At the difference of other works in the literature, the proposed approach allows for the synthesis of resilient…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
In this work, a predictive control framework is presented for feedback stabilization of nonlinear systems. To achieve this, we integrate Koopman operator theory with Lyapunov-based model predictive control (LMPC). The main idea is to…
This paper investigates the problem of securing exponentially fast consensus (exponential consensus for short) for identical agents with finite-dimensional linear system dynamics over dynamic network topology. Our aim is to find the weakest…
This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the…
This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. 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…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper investigates the design of decentralized output-feedback controllers for a class of a large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller…
Guaranteed-cost consensus for high-order nonlinear multi-agent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multi-agent networks is…