Related papers: Synchronization with prescribed transient behavior…
In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each…
We develop a discrete-time version of the blended dynamics theorem for the use of designing distributed computation algorithms. The blended dynamics theorem enables to predict the behavior of heterogeneous multi-agent systems. Therefore,…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and…
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, approximate optimal controllers for distributed multi-agent…
This paper presents novel solutions of the data-based synchronization problem for continuous-time multiagent systems. We consider the cases of homogeneous and heterogeneous systems. First, we obtain a data-based representation of the…
We address the problem to control a population of noncooperative heterogeneous agents, each with convex cost function depending on the average population state, and all sharing a convex constraint, towards an aggregative equilibrium. We…
Synchronization among autonomous agents via local interactions is one of the benchmark problems in multi-agent control. Whereas synchronization algorithms for identical agents have been thoroughly studied, synchronization of heterogeneous…
This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…
This paper considers the cluster synchronization problem of generic linear dynamical systems whose system models are distinct in different clusters. These nonidentical linear models render control design and coupling conditions highly…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
We analyze networked heterogeneous nonlinear systems, with diffusive coupling and interconnected over a generic static directed graph. Due to the network's hetereogeneity, complete synchronization is impossible, in general, but an emergent…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
This paper studies the problem of output agreement in networks of nonlinear dynamical systems under time-varying disturbances, using dynamic diffusive couplings. Necessary conditions are derived for general networks of nonlinear systems,…