Related papers: Controllability of Heterogeneous Multi-Agent Netwo…
Controlling complex networked systems to a desired state is a key research goal in contemporary science. Despite recent advances in studying the impact of network topology on controllability, a comprehensive understanding of the synergistic…
This paper introduces an online data-driven learning scheme designed to address a novel problem in propensity formation and containment control for fully heterogeneous multi-agent systems. Unlike traditional approaches that rely on the…
In this paper, we study the target controllability problem of networked dynamical systems, in which we are tasked to steer a subset of network states towards a desired objective. More specifically, we derive necessary and sufficient…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
This paper introduces a novel data-driven hierarchical control scheme for managing a fleet of nonlinear, capacity-constrained autonomous agents in an iterative environment. We propose a control framework consisting of a high-level dynamic…
It is well known that if a network topology is a path or line and the states of vertices or nodes evolve according to the consensus policy, then the network is Laplacian controllable by an input connected to its terminal vertex. In this…
In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing…
In recent years complex networks have gained increasing attention in different fields of science and engineering. The problem of controlling these networks is an interesting and challenging problem to investigate. In this paper we look at…
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…
A broad set of empirical phenomenon in the study of social, economic and machine behaviour can be modelled as complex systems with averaging dynamics. However many of these models naturally result in consensus or consensus-like outcomes. In…
The control of complex systems is an ongoing challenge of complexity research. Recent advances using concepts of structural control deduce a wide range of control related properties from the network representation of complex systems. Here,…
In this paper, classic controllability and structural controllability under two protocols are investigated. For classic controllability, the multiplicity of eigenvalue zero of general Laplacian matrix $L^*$ is shown to be determined by the…
This paper considers the distributed H-infinity leader-following tracking problem for a class of discrete time multi-agent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only…
Networks in nature have complex interactions among agents. One significant phenomenon induced by interactions is synchronization of coupled agents, and the interactive network topology can be tuned to optimize synchronization. The previous…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
Recent work in the area of interdependent networks has focused on interactions between two systems of the same type. However, an important and ubiquitous class of systems are those involving monitoring and control, an example of…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
This paper studies the opinion dynamics model recently introduced by Hegselmann and Krause: each agent in a group maintains a real number describing its opinion; and each agent updates its opinion by averaging all other opinions that are…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…