Related papers: Optimal Output Consensus for Nonlinear Multi-agent…
We consider control strategies for large-scale interacting agent systems under uncertainty. The particular focus is on the design of robust controls that allow to bound the variance of the controlled system over time. To this end we…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
This paper provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
This paper presents a novel framework which combines a non-iterative solution of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve consensus within complex network topologies with existing time-delays and in…
This paper deals with the H2 suboptimal state containment control problem for homogeneous linear multi-agent systems and the H2 suboptimal output containment control problem for heterogeneous linear multi-agent systems. For both problems,…
In this article, we present an algorithm that drives the outputs of a network of agents to jointly track the solutions of time-varying optimization problems in a way that is robust to asynchrony in the agents' operations. We consider three…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…
The paper considers a problem of consensus-based synchronization of uncertain parameter varying multi-agent systems. We present a method for constructing consensus-based synchronization protocol schedules for each agent to ensure it…
In this work we study a distributed optimal output consensus problem for heterogeneous linear multi-agent systems where the agents aim to reach consensus with the purpose of minimizing the sum of private convex costs. Based on output…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…
In this paper, a distributed learning leader-follower consensus protocol based on Gaussian process regression for a class of nonlinear multi-agent systems with unknown dynamics is designed. We propose a distributed learning approach to…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
This article presents the consensus of a saturated second order multi-agent system with non-switching dynamics that can be represented by a directed graph. The system is affected by data processing (input delay) and communication…
This paper deals with the H2 suboptimal output synchronization problem for heterogeneous linear multi-agent systems. Given a multi-agent system with possibly distinct agents and an associated H2 cost functional, the aim is to design output…
Recently, a scalable approach to system analysis and controller synthesis for homogeneous multi-agent systems with Bernoulli distributed packet loss has been proposed. As a key result of that line of work, it was shown how to obtain upper…