Related papers: Bearing-Only Consensus and Formation Control under…
For most existing prescribed performance formation control methods, performance requirements are not directly imposed on the relative states between agents but on the consensus error, which lacks a clear physical interpretation of their…
Sensor and actuator selection problems (SASP) are some of the core problems in dynamic systems design and control. These problems correspond to determining the optimal selection of sensors (measurements) or actuators (control nodes) such…
In this paper, a class of abstract dynamical systems is considered which encompasses a wide range of nonlinear finite- and infinite-dimensional systems. We show that the existence of a non-coercive Lyapunov function without any further…
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…
For a class of nonsmooth composite optimization problems with linear equality constraints, we utilize a Lyapunov-based approach to establish the global exponential stability of the primal-dual gradient flow dynamics based on the proximal…
This paper investigates the fixed-time consensus problem under directed topologies. By using a motion-planning approach, a class of distributed fixed-time algorithms are developed for a multi-agent system with double-integrator dynamics. In…
In this paper, an asymptotic stability proof for a class of methods for inexact nonlinear model predictive control is presented. General Q-linearly convergent online optimization methods are considered and an asymptotic stability result is…
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…
The Lyapunov equation is the gateway drug of nonlinear control theory. In these notes we revisit an elegant statement connecting the concepts of asymptotic stability and observability, to the solvability of Lyapunov equations, and discuss…
This note studies (practical) asymptotic stability of nonlinear networked control systems whose protocols are not necessarily uniformly globally exponentially stable. In particular, we propose a Lyapunov-based approach to establish…
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…
This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently…
We consider the problem of formally verifying almost-sure (a.s.) asymptotic stability in discrete-time nonlinear stochastic control systems. While verifying stability in deterministic control systems is extensively studied in the…
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically stabilizable by smooth feedback in polar coordinates. In this…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
We provide Lyapunov-like characterizations of boundedness and convergence of non-trivial solutions for a class of systems with unstable invariant sets. Examples of systems to which the results may apply include interconnections of stable…
Converse optimality theory addresses an optimal control problem conversely where the system is unknown and the value function is chosen. Previous work treated this problem both in continuous and discrete time and non-extensively considered…
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can join and new interactions can be formed over time.…