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Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
In this article, the time-varying formation tracking control of wheeled mobile robots with region constraint is investigated from a generalized Udwadia-Kalaba framework. The communication network is modeled as a directed and weighted graph…
A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation…
Distributed optimization problems have received much attention due to their privacy preservation, parallel computation, less communication, and strong robustness. This paper presents and studies the time-varying distributed optimization…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
We consider the data-driven stabilization of discrete-time linear time-varying systems. The controller is defined as a linear state-feedback law whose gain is adapted to the plant changes through a data-based event-triggering rule. To do…
In this paper, we study the leader-following consensus problem of multiple Euler-Lagrange systems subject to an uncertain leader system. We first establish an adaptive distributed observer for a neutrally stable linear leader system whose…
A novel approach for non-intrusive uncertainty propagation is proposed. Our approach overcomes the limitation of many traditional methods, such as generalised polynomial chaos methods, which may lack sufficient accuracy when the quantity of…
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…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
Recent advancements in model-free deep reinforcement learning have enabled efficient agent training. However, challenges arise when determining the region of attraction for these controllers, especially if the region does not fully cover…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
We consider the problem of damping a control system with delay described by first-order functional-differential equations on a temporal tree. The delay in the system is time-proportional and propagates through the internal vertices. The…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…
Interfractional geometric uncertainties can lead to deviations of the actual delivered dose from the prescribed dose distribution. To better handle these uncertainties during treatment, the authors propose a dynamic framework for robust…
In this work, the ability to distinguish digraphs from the output response of some observing agents in a multi-agent network under the agreement protocol has been studied. Given a fixed observation point, it is desired to find sufficient…