Related papers: Receding Horizon Consensus of General Linear Multi…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
In previous work, a Cooperative Receding Horizon (CRH) controller was developed for solving cooperative multi-agent problems in uncertain environments. In this paper, we overcome several limitations of this controller, including potential…
In this paper, we address the distributed average consensus problem over directed networks in open multi-agent systems (OMAS), where the stability of the network is disrupted by frequent agent arrivals and departures, leading to a…
This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing mobile obstacles and time-varying areas of interest (i.e.,…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
This paper considers self-triggered consensus control of unknown linear multi-agent systems (MASs). Self-triggering mechanisms (STMs) are widely used in MASs, thanks to their advantages in avoiding continuous monitoring and saving computing…
This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A…
This paper addresses the one-bit consensus of controllable linear multi-agent systems (MASs) with communication noises. A consensus algorithm consisting of a communication protocol and a consensus controller is designed. The communication…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
Optimization-based controllers, such as Model Predictive Control (MPC), have attracted significant research interest due to their intuitive concept, constraint handling capabilities, and natural application to multi-input multi-output…
This paper discusses a novel probabilistic approach for the design of robust model predictive control (MPC) laws for discrete-time linear systems affected by parametric uncertainty and additive disturbances. The proposed technique is based…
In this paper we propose a novel consensus protocol for discrete-time multi-agent systems (MAS), which solves the dynamic consensus problem on the max value, i.e., the dynamic max-consensus problem. In the dynamic max-consensus problem to…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
We consider multi-agent systems with cooperative interactions and study the convergence to consensus in the case of time-dependent connections, with possible communication failure. We prove a new condition ensuring consensus: we define a…
This paper investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multi-agent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly…
We provide a solution to the problem of receding horizon control for stochastic discrete-time systems with bounded control inputs and imperfect state measurements. For a suitable choice of control policies, we show that the finite-horizon…
This note considers the constrained H-infinity consensus of multi-agent networks with nonidentical constraint sets. An improved distributed algorithm is adopted and a nonlinear controlled output function is defined to evaluate the effect of…
This article is concerned with stability and performance of controlled stochastic processes under receding horizon policies. We carry out a systematic study of methods to guarantee stability under receding horizon policies via appropriate…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…