Related papers: Dynamic Feedback for Consensus of Networked Lagran…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
This paper investigates manipulability of interactive Lagrangian systems with parametric uncertainty and communication/sensing constraints. Two standard examples are teleoperation with a master-slave system and teaching operation of robots.…
This paper investigates a new method for consensus in a group of nonlinear complex multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense…
The leader-following consensus problem for multiple Euler-Lagrange systems was studied recently by the adaptive distributed observer approach under the assumptions that the leader system is neurally stable and the communication network is…
This paper focuses on developing a new paradigm motivated by investigating the consensus problem of networked Lagrangian systems with time-varying delay and switching topologies. We present adaptive controllers with piecewise continuous or…
This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
This paper focuses on analyzing the finite-time convergence of a nonlinear consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output…
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…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
This paper proposes a novel online data-driven adaptive control for unknown linear time-varying systems. Initialized with an empirical feedback gain, the algorithm periodically updates this gain based on the data collected over a short time…
This paper investigates the distributed optimal output consensus problem of heterogeneous linear multi-agent systems over weight-unbalanced directed networks. A novel distributed continuous-time state feedback controller is proposed to…
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…
This paper investigates output consensus in heterogeneous dynamical networks within a plug-and-play framework. The networks are interconnected through nonlinear diffusive couplings and operate in the presence of measurement and…
Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…