Related papers: Output Feedback Consensus for Networked Heterogene…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
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…
As neural networks (NNs) become more prevalent in safety-critical applications such as control of vehicles, there is a growing need to certify that systems with NN components are safe. This paper presents a set of backward reachability…
We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…
We consider a class of consensus systems driven by a nonlinear input. Such systems arise in a class of IoT applications. Our objective in this paper is to determine conditions under which a certain partially distributed system converges to…
This paper considers the consensus performance improvement problem of networked general linear agents subject to external disturbances over Markovian randomly switching communication topologies. The consensus control laws can only use its…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
We present a framework to design nonlinear robust output feedback model predictive control (MPC) schemes that ensure constraint satisfaction under noisy output measurements and disturbances. We provide novel estimation methods to bound the…
In this paper, we study an optimal output consensus problem for a multi-agent network with agents in the form of multi-input multi-output minimum-phase dynamics. Optimal output consensus can be taken as an extended version of the existing…
Motor control requires sensory feedback, and the nature of this feedback has implications for the tasks of the central nervous system (CNS): for an approximately linear mechanical system (e.g., a freely standing person, a rider on a…
The recent rapid proliferation of renewable energy is fundamentally changing the dynamic operations of power systems, necessitating new approaches to assess stability for these highly nonlinear systems. In this paper, we prove that…
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations,…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
In this paper, we propose a multiplex proportional-integral approach, for solving consensus problems in networks of heterogeneous nodes dynamics affected by constant disturbances. The proportional and integral actions are deployed on two…
This article addresses the nonadaptive and robust output regulation problem of the general nonlinear output feedback system with error output. The global robust output regulation problem for a class of general output feedback nonlinear…
This paper presents new classes of consensus protocols with fixed-time convergence, which enable the definition of an upper bound for consensus state as a parameter of the consensus protocol, ensuring its independence from the initial…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
Multi-body interactions can reveal higher-order dynamical effects that are not captured by traditional two-body network models. In this work, we derive and analyse models for consensus dynamics on hypergraphs, where nodes interact in groups…