Related papers: Event-Triggered Control for Weight-Unbalanced Dire…
We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…
High communication costs create a major bottleneck for distributed resource allocation over unbalanced directed networks. Conventional dual gradient tracking methods, while effective for problems on unbalanced digraphs, rely on periodic…
We study the problem of periodic event-triggered control of interconnected port-Hamiltonian systems subject to time-varying delays in their communication. In particular, we design a threshold parameter for the event-triggering condition, a…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
This paper studies the event-triggered control problem for time-delay systems. A novel event-triggering scheme is proposed to exponentially stabilize a class of linear time-delay systems. By employing a new Halanay-type inequality and the…
Event-Triggered Control (ETC) reduces communication overhead in networked systems by transmitting only when stability requires it. Conventional mechanisms use isotropic error thresholds ($\|e\| \le \sigma \|x\|$), treating all directions…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
This paper re-visits a multi-agent deployment problem where agents are restricted from requesting information from other agents as well as sending acknowledgments when information is received. These communication constraints relax the…
In this work, inspired in the symbolic dynamic of chaotic systems and using machine learning techniques, a control strategy for complex systems is designed. Unlike the usual methodologies based on modeling, where the control signal is…
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…
This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
This paper considers nonlinear systems with full state feedback, a central controller and distributed sensors not co-located with the central controller. We present a methodology for designing decentralized asynchronous event-triggers,…
Extensive research on graph-based dynamics and control of multi-agent systems has successfully demonstrated control of robotic swarms, where each robot is perceived as an independent agent virtually connected by a network topology. The…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
This doctoral thesis concerns novel distributed algorithms for weight balancing over directed (communication) topologies. A directed topology (digraph) with nonnegative (or positive) weights assigned on each edge is weight-balanced if, for…
We present an event-triggered boundary control scheme for hyperbolic systems. The trigger condition is based on predictions of the state on determinate sets, where the control input is only updated if the predictions deviate from the…
In this paper, a heterogeneous leader-followers multiagent system is studied under simultaneous time-varying communication faults and actuator faults. First, the state of the leader is modelled as the closed-loop reference model where the…
In this paper, we study the robustness of the event-triggered consensus algorithms against frequency-domain uncertainties. It is revealed that the sampling errors resulted by event triggering are essentially images of linear finite-gain…