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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…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
We consider control strategies for large-scale interacting agent systems under uncertainty. The particular focus is on the design of robust controls that allow to bound the variance of the controlled system over time. To this end we…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
This paper studies a stabilization problem for linear MIMO systems subject to external perturbation that further requires the closed-loop system render a specified gain from the external perturbation to the output. The problem arises from…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…
This paper is concerned with the problem of robust reliable control for a class of uncertain 2D discrete switched systems with state delays represented by a model of Roesser type. The parameter uncertainties are assumed to be norm-bounded.…
The increasing ease of obtaining and processing data together with the growth in system complexity has sparked the interest in moving from conventional model-based control design towards data-driven concepts. Since in many engineering…
This paper studies the formation stabilization problem of asynchronous nonlinear multi-agent systems (MAS) subject to parametric uncertainties, external disturbances and bounded time-varying communication delays. A self-triggered min-max…
The discrete-time robust repetitive control (RC, or repetitive controller, also designated RC) problem for nonlinear systems is both challenging and practical. This paper proposes a discrete-time output-feedback RC design for a class of…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
This paper enhances the feedback linearization controller for multirotors with a learned acceleration error model and a thrust input delay mitigation model. Feedback linearization controllers are theoretically appealing but their…
In this paper, a distributed learning leader-follower consensus protocol based on Gaussian process regression for a class of nonlinear multi-agent systems with unknown dynamics is designed. We propose a distributed learning approach to…
In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon optimal control problem with output feedback. Previously, this…
This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded.…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
This paper proposes a reinforcement learning (RL)-based backstepping control strategy to achieve fixed time consensus in nonlinear multi-agent systems with strict feedback dynamics. Agents exchange only output information with their…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…