Related papers: Cooperative output feedback tracking control of st…
This note further studies the previously proposed consensus protocol for linear multi-agent systems with communication noises in [15], [16]. Each agent is allowed to have its own time-varying gain to attenuate the effect of communication…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
We consider leader-follower multi-agent systems in which the leader executes the desired trajectory and the followers implement the consensus algorithm subject to stochastic disturbances. The performance of the leader-follower systems is…
We study a leader-follower system of interacting particles subject to feedback control and derive its mean-field limits through a two-step passage: first to a micro-macro system coupling leader particles with a follower fluid, and then to a…
In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may…
We show that the steady-state variance as a performance measure for a class of networked linear control systems is expressible as the summation of a rational function over the Laplacian eigenvalues of the network graph. Moreover, we…
This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multi-agent systems. PPF allows error tracking from a predefined large set to be trapped into a…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…
We consider the problem of output feedback stabilization in linear systems when the measured outputs and control inputs are subject to event-triggered sampling and dynamic quantization. A new sampling algorithm is proposed for outputs which…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
This paper proposes two cooperative optimal output tracking (COOT) algorithms based on policy iteration (PI) for discrete-time multi-agent systems with unknown model parameters. First, we establish a stabilizing PI framework that can start…
This paper proposes a stochastic model predictive control method for linear systems affected by additive Gaussian disturbances that optimizes over disturbance feedback matrices online. Closed-loop satisfaction of probabilistic constraints…
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…
An important aspect in jointly analysing networked control systems and their communication is to model the networking in a sufficiently rich but at the same time mathematically tractable way. As such, this paper improves on a recently…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
In this paper, a new yet indirect performance guaranteed framework is established to address the distributed tracking control problem for networked uncertain nonlinear strict-feedback systems with unknown time-varying gains under a directed…
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…
Inverse optimal control can be used to characterize behavior in sequential decision-making tasks. Most existing work, however, is limited to fully observable or linear systems, or requires the action signals to be known. Here, we introduce…