Related papers: An Output-Feedback Control Approach to the $H_{\in…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
This paper studies the problem of coordinating a group of $n$th-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We…
We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…
In this paper, we propose several consensus protocols of the first and second order for networked multi-agent systems and provide explicit representations for their asymptotic states. These representations involve the eigenprojection of the…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
In this paper, finite-time state consensus problems for continuous-time multi-agent systems are discussed, and two distributive protocols, which ensure that the states of agents reach an agreement in a finite time, are presented. By…
In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent…
This paper examines the $\mathcal{H}_\infty$ performance problem of the edge agreement protocol for networks of agents operating on independent time scales, connected by weighted edges, and corrupted by exogenous disturbances.…
We investigate the performance of m-th order consensus systems with stochastic external perturbations, where a subset of leader nodes incorporates absolute information into their control laws. The system performance is measured by its…
This paper develops a feedback-based method to preserve the topology privacy of consensus protocols in network systems. The key idea is to intentionally violate topology identifiability conditions, thereby preventing unique or accurate…
The objective of the invariant ellipsoid method is to minimize the smallest invariant and attractive set of a linear control system operating under the influence of bounded external disturbances. In this paper, this method is extended into…
We study feedback control of a dynamical process over a lossy channel equipped with a hybrid automatic repeat request protocol that connects a sensor to an actuator. The dynamical process is modeled by a Gauss-Markov process, and the lossy…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized…
This paper studies optimal consensus tracking problem of heterogeneous linear multi-agent systems. By introducing tracking error dynamics, the optimal tracking problem is reformulated as finding a Nash-equilibrium solution of a multi-player…
We propose an axiomatic approach for design and performance analysis of noisy linear consensus networks by introducing a notion of systemic performance measure. This class of measures are spectral functions of Laplacian eigenvalues of the…
This paper investigates the distributed event-based consensus problem of switching networks satisfying the jointly connected condition. Both the state consensus of homogeneous linear networks and output consensus of heterogeneous networks…
This paper studies scale-free protocol design for H_\infty almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible, and introspective agents in presence of external disturbances.…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…