Related papers: Robust time-varying formation design for multi-age…
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance…
This paper addresses the finite-time non-overshooting leader-following consensus problem for multi-agent systems, whose agents are modeled by a dynamical system topologically equivalent to the integrator chain. Based on the weighted…
This paper presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
The increasing deployment of multi-agent systems (MAS) in critical infrastructures such as autonomous transportation, disaster relief, and smart cities demands robust formation control mechanisms resilient to adversarial attacks.…
This paper investigates the reinforcement learning (RL) based disturbance rejection control for uncertain nonlinear systems having non-simple nominal models. An extended state observer (ESO) is first designed to estimate the system state…
Even for known nonlinear dynamical systems, feedback controller synthesis is a difficult problem that often requires leveraging the particular structure of the dynamics to induce a stable closed-loop system. For general nonlinear models,…
The problem of reward design examines the interaction between a leader and a follower, where the leader aims to shape the follower's behavior to maximize the leader's payoff by modifying the follower's reward function. Current approaches to…
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. Using only bearing and relative velocity measurements,…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…
This paper presents a generalized robust stability analysis for bearing-based formation control and network localization systems. For an undirected network, we provide a robust stability analysis in the presence of time-varying exogenous…
This paper proposes a new approach to analyze and design distributed robust consensus control protocols for general linear leaderless multi-agent systems (MASs) in presence of relative-state constraints or uncertainties. First, we show that…
This paper investigates the robustness of a novel high-dimensional continuification control method for complex multi-agent systems. We begin by formulating a partial differential equation describing the spatio-temporal density dynamics of…
The use of available disturbance predictions within a nominal model predictive control formulation is studied. The main challenge that arises is the loss of recursive feasibility and stability guarantees when a persistent disturbance is…
The goal of this paper is to assess the robustness of an uncertain linear time-varying (LTV) system on a finite time horizon. The uncertain system is modeled as a connection of a known LTV system and a perturbation. The input/output…
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…
This is the second part of four series papers, aiming at the problem of sensor dynamics compensation for abstract linear systems. Two major issues are addressed. The first one is about the sensor dynamics compensation in system observation…
This paper discusses the problem of estimating the state of a linear time-invariant system when some of its sensors and actuators are compromised by an adversarial agent. In the model considered in this paper, the malicious agent attacks an…
Existing network analysis methods struggle to optimize observer placements in dynamic environments with limited visibility. This dissertation introduces the novel ROBUST (Ranged Observer Bipartite-Unipartite SpatioTemporal) framework,…