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In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
In this paper, a deep structured tracking problem is introduced for a large number of decision-makers. The problem is formulated as a linear quadratic deep structured team, where the decision-makers wish to track a global target…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
In this article, we investigate the convergence behavior of two classes of gathering protocols with fixed circulant topologies using tools from dynamical systems. Given a fixed number of mobile entities moving in the Euclidean plane, we…
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to…
This paper proposes a fully data-driven motion-planning framework for homogeneous linear multi-agent systems that operate in shared, obstacle-filled workspaces without access to explicit system models. Each agent independently learns its…
In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Extensive research on graph-based dynamics and control of multi-agent systems has successfully demonstrated control of robotic swarms, where each robot is perceived as an independent agent virtually connected by a network topology. The…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…