Related papers: A Separation-Based Methodology to Consensus Tracki…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
The guaranteed-performance consensualization for high-order linear and nonlinear multiagent systems with switching topologies is respectively realized in a completely distributed manner in the sense that consensus design criteria are…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
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 work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the…
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a directed and fully…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
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…