Related papers: Bounded Connectivity-Preserving Coordination of Ne…
This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler- Lagrange agents. The investigation establishes that: (1) there…
This paper presents a distributed position synchronization strategy that also preserves the initial communication links for single-integrator multi-agent systems with time-varying delays. The strategy employs a coordinating proportional…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for…
This paper presents an adaptive control framework for Euler-Lagrange (E-L) systems that enforces user-defined time-varying state and input constraints in the presence of parametric uncertainties and bounded disturbances. The proposed design…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
In this paper we present three distributed control laws for the coordination of networked Euler-Lagrange (EL) systems. We first reformulate the passivity-based control design method in \cite{Arcak} by considering that each edge is…
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 published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
This paper proposes three different distributed event-triggered control algorithms to achieve leader-follower consensus for a network of Euler-Lagrange agents. We firstly propose two model-independent algorithms for a subclass of…
This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
In this paper, we address the distributed prescribed-time convex optimization (DPTCO) for a class of networked Euler-Lagrange systems under undirected connected graphs. By utilizing position-dependent measured gradient value of local…
This paper addresses a class of Nash equilibrium (NE) seeking problems in coalition games involving both local and coupling constraints for multiple Euler-Lagrange (EL) systems subject to disturbances of unknown bounds. Within each…
The resilient consensus problem is investigated in this paper for a class of networked Euler-Lagrange systems with event-triggered communication in the presence of Byzantine attacks. One challenge that we face in addressing the considered…
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The proposed approach enforces hard funnel constraints, meaning…