Related papers: Gain-scheduled Leader-follower Tracking Control fo…
This paper studies the distributed average tracking problem pertaining to a discrete-time linear time-invariant multi-agent network, which is subject to, concurrently, input delays, random packet-drops, and reference noise. The problem…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
In this paper, we consider a hierarchical control problem with model uncertainty. Specifically, we consider the following objectives that we would like to accomplish. The first one being of a controllability-type that consists of…
In this paper, we study the leader-following consensus problem of multiple Euler-Lagrange systems subject to an uncertain leader system. We first establish an adaptive distributed observer for a neutrally stable linear leader system whose…
In this Letter we propose a method to control a set of arbitrary nodes in a directed network such that they follow a synchronous trajectory which is, in general, not shared by the other units of the network. The problem is inspired to those…
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 order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by $r$-th order functional differential equations, encompassing inter alia systems with unknown "control direction" and dead-zone…
In this letter, we explore the communication-control co-design of discrete-time stochastic linear systems through reinforcement learning. Specifically, we examine a closed-loop system involving two sequential decision-makers: a scheduler…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
In this paper, randomized gossip-type matrix-weighted consensus algorithms are proposed for both leaderless and leader-follower topologies. First, we introduce the notion of expected matrix-weighted network, which captures the…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
This paper addresses the positive synchronization of interconnected systems on undirected graphs. For homogeneous positive systems, a static feedback protocol design is proposed, based on the Linear Regulator problem. The solution to the…
This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
Optimal sampled-data control of a nonlinear system is considered with the stable-manifold approach and extensive use of numerical techniques. The idea is to notice the Hamiltonian system associated with the considered optimal control…
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…