Related papers: Distributed Adaptive Fault-Tolerant Control of Unc…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
Since some years ago, use of Feedback Control Scheduling Algorithm (FCSA) in the control scheduling co-design of multiprocessor embedded system has increased. FCSA provides Quality of Service (QoS) in terms of overall system performance and…
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…
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…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper presents the formulation of fault detection and accommodation schemes for a network of autonomous agents running internal model-based dynamic average consensus algorithms. We focus on two types of consensus algorithms, one that…
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 brief aims at the issue of globally composite-learning-based neural fast finite-time (F-FnT) tracking control for a class of uncertain systems in strict-feedback form subject to nonlinearly periodic disturbances. First, uncertain…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and…
This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with additive and bounded disturbance. In particular, the problem…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
Distributed intelligence in industrial networks increasingly integrates sensing, communication, and computation across heterogeneous and resource constrained devices. Federated learning (FL) enables collaborative model training in such…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
This paper employs a supervised machine learning (ML) algorithm to propose an integrated fault detection and diagnosis (FDD) and fault-tolerant control (FTC) strategy to detect, diagnose, and classify the grid faults and correct the input…
In this paper, adapted from the author's PhD thesis, we present otherwise unpublished results relating to global control schemes, culminating in the calculation of a fault-tolerant threshold for one such scheme. As with early fault-tolerant…
Fault-tolerant coverage control involves determining a trajectory that enables an autonomous agent to cover specific points of interest, even in the presence of actuation and/or sensing faults. In this work, the agent encounters control…
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 paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…