Related papers: Cooperative Robust Output Regulation Problem for D…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
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…
This paper studies the problem of output regulation for a class of nonlinear systems experiencing matched input disturbances. It is assumed that the disturbance signal is generated by an external autonomous dynamical system. First, we show…
This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller…
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…
In this paper, we investigate the optimal output tracking problem for linear discrete-time systems with unknown dynamics using reinforcement learning and robust output regulation theory. This output tracking problem only allows to utilize…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
This paper investigates the cooperative output regulation (COR) of nonlinear multi-agent systems (MASs) with long input delay based on periodic event-triggered mechanism. Compared with other mechanisms, periodic event-triggered control can…
This paper investigates the output synchronization problem for discrete-time heterogeneous multi-agent systems (MASs) subject to distinct communication delays. The presence of such delays prevents the instantaneous delivery of information…
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…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs…
In this paper, a bipartite output regulation problem is solved for a class of nonlinear multi-agent systems subject to static signed communication networks. A nonlinear distributed observer is proposed for a nonlinear exosystem with…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
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…
Distributed dynamic compensators, also known as distributed observer, play a key role in the output consensus problem of heterogeneous nonlinear multi-agent systems. However, most existing distributed dynamic compensators require either the…
A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the settling time depends on the initial condition and design…
In this paper, we first propose a method that can efficiently compute the maximal robust controlled invariant set for discrete-time linear systems with pure delay in input. The key to this method is to construct an auxiliary linear system…
We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…