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This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
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…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
In this letter, we study the leader-synchronization problem for a class of partial differential equations with boundary control and in-domain coupling. We describe the problem in an abstract formulation and we specialize it to a network of…
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…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…
In this paper, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multi-agent systems with bounded input disturbances are studied, respectively. Firstly, a…
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…
The paper considers event-triggered leader-follower tracking control for multi-agent systems with general linear dynamics. For both undirected and directed follower graphs, we propose event triggering rules which guarantee bounded tracking…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…