Related papers: Decentralized sliding-mode control laws for the be…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…
A sliding-mode-based adaptive boundary control law is proposed for a class of uncertain thermal reaction-diffusion processes subject to matched disturbances. The disturbances are assumed to be bounded, but the corresponding bounds are…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
This paper considers a leader-following formation control problem for heterogeneous, second-order, uncertain, input-affine, nonlinear multi-agent systems modeled by a directed graph. A tunable, three-layer neural network (NN) is proposed…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
This paper proposes fractional sliding control designs for single-degree-of-freedom fractional oscillators respectively of the Kelvin-Voigt type, the modified Kelvin-Voigt type and D\"{u}ffing type, whose dynamical behaviors are described…
This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference. A general concept of Bearing Persistently…
The problem of consensus in the presence of adversarially behaving agents has been studied extensively in the literature. The proposed algorithms typically guarantee that the consensus value lies within the convex hull of initial normal…
This paper addresses the leader-following consensus problem for discrete-time positive multi-agent systems over time-varying graphs. We assume that the followers may have mutually different positive dynamics which can also be different from…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…