Related papers: Finite-time attitude synchronization with a discon…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
We consider the finite-time stabilization of homogeneous quasilinear hyperbolic systems with one side controls and with nonlinear boundary condition at the other side. We present time-independent feedbacks leading to the finite-time…
We study the problem of monitoring distributed systems where computers communicate using message passing and share an almost synchronized clock. This is a realistic scenario for networks where the speed of the monitoring is sufficiently…
This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to contain a directed spanning tree. We propose an adaptive…
The problem of synchronization and balancing around simple closed polar curves is addressed for unicycle-type multi-agent systems. Leveraging the concept of barrier Lyapunov function in conjunction with bounded Lyapunov-like curve-phase…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
Synchronization of coupled continuous-time linear systems is studied in a general setting. For identical neutrally-stable linear systems that are detectable from their outputs, it is shown that a linear output feedback law exists under…
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that…
In this paper, we introduce a nonlinear time-varying coupling law, which can be designed in a fully decentralized manner and achieves approximate synchronization with arbitrary precision, under only mild assumptions on the individual vector…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
This paper proposes a novel method for designing finite-horizon discrete-valued switching signals in linear switched systems based on discreteness-promoting regularization. The inherent combinatorial optimization problem is reformulated as…
We study a variant of the classical membership problem in automata theory, which consists of deciding whether a given input word is accepted by a given automaton. We do so under a different perspective, that is, we consider a dynamic…
We analyze the emergence of synchronization in a population of moving integrate-and-fire oscillators. Oscillators, while moving on a plane, interact with their nearest neighbor upon firing time. We discover a non-monotonic dependence of the…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…