Related papers: Achieving Optimal Output Consensus for Discrete-ti…
In this paper, we first present an adaptive distributed observer for a discrete-time leader system. This adaptive distributed observer will provide, to each follower, not only the estimation of the leader's signal, but also the estimation…
This paper presents a distributed continuous-time optimization framework aimed at overcoming the challenges posed by time-varying cost functions and constraints in multi-agent systems, particularly those subject to disturbances. By…
The current paper addresses the distributed guaranteed-cost synchronization problems for general high-order linear multiagent networks. Existing works on the guaranteed-cost synchronization usually require all state information of…
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,…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent…
In this paper, we consider an output consensus problem for a general class of nonlinear multi-agent systems without a prior knowledge of the agents' control directions. Two distributed Nussbaumtype control laws are proposed to solve the…
This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
In this paper, we propose a new and systematic design framework for output consensus in heterogeneous Multi-Input Multi-Output (MIMO) general nonlinear Multi-Agent Systems (MASs) subjected to directed communication topology. First, the…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
The paper proposes a distributed eventtriggered consensus approach for linear multi-agent systems with guarantees over rate of convergence, resilience to control gain uncertainties, and Pareto optimality of design parameters, namely, the…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…