Related papers: Controller Synthesis for Multi-Agent Systems With …
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…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…
We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…
We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model uncertainty and additive disturbances. In the…
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to…
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.…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…
In a leader-follower multi-agent system (MAS), the leader agents act as control inputs and influence the states of the remaining follower agents. The rate at which the follower agents converge to their desired states, as well as the errors…
This paper focuses on the control of collective dynamics in large-scale multi-agent systems (MAS) operating in a 3-D space, with a specific emphasis on compensating for the influence of an unknown delay affecting the actuated leaders. The…
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…
Controllability refers to a situation in which a Multi-agent System may be steered from one state to another using specified rules. As a result, there is belief in achieving a given condition by explicit advances. The level of dynamism in…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…