Related papers: Distributed Global Output-Feedback Control for a C…
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 presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
We present a framework to control and track the observables of a general solid state system driven by an incident laser field. The main result is a non-linear equation of motion for tracking an observable, together with a constraint on the…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
The existing result on the cooperative output regulation problem for unknown linear multi-agent systems using a data-driven distributed internal model approach is limited to the case where each follower is a single-input and single-output…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
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…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…
This paper investigates the robust cooperative output regulation problem for a class of heterogeneous uncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizing the internal model approach…
In this paper, we study a distributed optimization problem for a class of high-order multi-agent systems with unknown dynamics. In comparison with existing results for integrators or linear agents, we need to overcome the difficulties…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
This article addresses the output regulation problem for a class of nonlinear systems using a data-driven approach. An output feedback controller is proposed that integrates a traditional control component with a data-driven learning…
This paper investigates the robust output regulation problem for an uncertain linear minimum-phase plant with cooperative parallel operation of multiple actuators. Building on the internal model approach, we first propose a dynamic output…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
This paper deals with the problem of designing a sampled-data state feedback control law for continuous-time linear control systems subject to uniform input quantization. The sampled-data state feedback is designed to ensure the uniform…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…