Related papers: Robust time-varying formation design for multi-age…
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to…
One salient feature of cooperative formation tracking is its distributed nature that relies on localized control and information sharing over a sparse communication network. That is, a distributed control manner could be prone to malicious…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
The time-varying output formation tracking for the heterogeneous multi-agent systems (MAS) is investigated in this paper. First, a distributed observer is constructed for followers to estimate the states of the leader, which can ensure that…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may…
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
Stochastic multi-agent systems are a central modeling framework for autonomous controllers, communication protocols, and cyber-physical infrastructures. In many such systems, however, transition probabilities are only estimated from data…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…