Related papers: Distributed Adaptive Consensus Control of High Ord…
Distributed control of large-scale systems is challenging due to the need for scalable and localized communication and computation. In this work, we introduce a Predictive System-Level Synthesis PredSLS framework that designs controllers by…
This paper investigates a new method for consensus in a group of nonlinear complex multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense…
In real-world applications, we often require reliable decision making under dynamics uncertainties using noisy high-dimensional sensory data. Recently, we have seen an increasing number of learning-based control algorithms developed to…
Motivated by the problem of tracking a direction in a decentralized way, we consider the general problem of cooperative learning in multi-agent systems with time-varying connectivity and intermittent measurements. We propose a distributed…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
Federated Learning (FL) is a distributed learning paradigm where clients collaboratively train a model while keeping their own data private. With an increasing scale of clients and models, FL encounters two key challenges, client drift due…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
This paper introduces a novel approach for achieving fixed-time tracking consensus control in multiagent systems (MASs). Departing from the reliance on traditional controllers, our innovative controller integrates modified tuning and…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
This paper studies the distributed state estimation problem for a class of discrete time-varying systems over sensor networks. Firstly, it is shown that a networked Kalman filter with optimal gain parameter is actually a centralized filter,…
The focus of this paper is on the co-design of control and communication protocol for the control of multiple applications with unknown parameters using a distributed embedded system. The co-design consists of an adaptive switching…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the settling time depends on the initial condition and design…
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a directed and fully…
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…