Related papers: Bearing-Only Consensus and Formation Control under…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
We study the asymptotic relations between certain singular and constrained control problems for one-dimensional diffusions with both discounted and ergodic objectives. By constrained control problems we mean that controlling is allowed only…
Using a nonlocal second-order traffic flow model we present an approach to control the dynamics towards a steady state. The system is controlled by the leading vehicle driving at a prescribed velocity and also determines the steady state.…
We introduce a weak asymptotic version of nonlinear contraction, termed \emph{asymptotic pointwise contraction}. For a mapping on a metric space, this notion requires the existence of a sequence of functions that dominate the distances…
This paper is devoted to the stabilization problem for nonlinear driftless control systems by means of a time-varying feedback control. It is assumed that the vector fields of the system together with their first order Lie brackets span the…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
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…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper presents a novel approach to generating stabilizing controllers for a large class of dynamical systems using diffusion models. The core objective is to develop stabilizing control functions by identifying the closest…
This work aims to address the design of fully distributed control protocols for stochastic consensus, and, for the first time, establishes the existence and uniqueness of solutions for the path-dependent and highly nonlinear closed-loop…
The purpose of this short paper is to provide a theoretical analysis for the consensus problem under nonlinear protocols. A main contribution of this work is to generalize the previous consensus problems under nonlinear protocols for…
This paper is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. In stead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a…
In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
Learned models and policies can generalize effectively when evaluated within the distribution of the training data, but can produce unpredictable and erroneous outputs on out-of-distribution inputs. In order to avoid distribution shift when…
The present work extends recent results by second author concerning sampled-data feedback stabilization for affine in the control of nonlinear systems with nonzero drift term, under the presence of a generalized control Lyapunov function…
In the paper, we formulate the target-pointing consensus problem where the headings of agents are required to point at a common target. Only a few agents in the network can measure the bearing information of the target. A two-step solution…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…