Related papers: Leader-follower Tracking Control with Guaranteed C…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
This paper concerns a class of uncertain linear quantum systems subject to quadratic perturbations in the system Hamiltonian. A small gain approach is used to evaluate the performance of the given quantum system. In order to get improved…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
This paper considers a localized data-driven consensus problem for leader-follower multi-agent systems with unknown discrete-time agent dynamics, where each follower computes its local control gain using only their locally collected state…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadratic constraints (IQC). By leveraging IQCs, a large class of…
In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
In this paper, we study the cooperative robust output regulation problem for linear uncertain multi-agent systems with both communication delay and input delay by the distributed internal model approach. The problem includes the…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
In this paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external…
This study focuses on the problem of optimal mismatched disturbance rejection control for uncontrollable linear discrete-time systems. In contrast to previous studies, by introducing a quadratic performance index such that the regulated…
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…
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…