Related papers: PI Consensus Error Transformation for Adaptive Coo…
The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
Contemporary technological challenges often involve many degrees of freedom in a distributed or networked setting. Three aspects are notable: the variables are usually associated with the nodes of a graph with limited communication…
In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
This paper considers a novel multi-agent linear stochastic approximation algorithm driven by Markovian noise and general consensus-type interaction, in which each agent evolves according to its local stochastic approximation process which…
It is nontrivial to achieve global zero-error regulation for uncertain nonlinear systems. The underlying problem becomes even more challenging if mismatched uncertainties and unknown time-varying control gain are involved, yet certain…
This paper investigates a decentralized design approach of leader-following consensus protocols for heterogeneous multiagent systems under a fixed communication topology with a directed spanning tree (DST) and asymmetric weight matrix.…
This paper proposes an adaptation mechanism for heterogeneous multi-agent systems to align the agents' internal parameters, based on enforced consensus through strong couplings. Unlike homogeneous systems, where exact consensus is…
This paper addresses the consensus of a class of uncertain nonlinear fractional-order multi-agent systems (FOMAS). First a fractional non-fragile dynamic output feedback controller is put forward via the output measurements of neighboring…
In this work, we study the consensus problem in which legitimate agents send their values over an undirected communication network in the presence of an unknown subset of malicious or faulty agents. In contrast to former works, we…
In this paper, we propose matrix-scaled consensus algorithms for linear dynamical agents interacting over an undirected network. Under the proposed algorithms, the state vectors of all agents to asymptotically agree up to some matrix…
This paper concerns control of a class of systems where multiple dynamically stable agents share a nonlinear and bounded control-interconnection. The agents are subject to a disturbance which is too large to reject with the available…
Reliable multi-agent trajectory prediction is crucial for the safe planning and control of autonomous systems. Compared with single-agent cases, the major challenge in simultaneously processing multiple agents lies in modeling complex…
In this paper, we propose a generalized successive approximation method (SAM), called invariantly admissible policy iteration (PI), for finding the solution to a class of input-affine nonlinear optimal control problems by iterations. Unlike…
This paper investigates event-triggered consensus tracking in nonlinear semi-strict-feedback multi-agent systems involving one leader and multiple followers. We first employ radial basis function neural networks and backstepping techniques…
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The standard Laplacian flow consensus algorithm for double…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
In this technical note, we introduce a novel approach to studying consensus of continuous-time nonlinear systems with varying topology based on Hilbert metric. We demonstrate that this metric offers significant flexibility in analyzing…