Related papers: Formation Control of Nonlinear Multi-Agent Systems…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
In this paper, the decentralized estimation and linear quadratic (LQ) control problem for a leader-follower networked system (LFNS) is studied from the perspective of asymmetric information. Specifically, for a leader-follower network, the…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
In this paper, the target controllability of multiagent systems under directed weighted topology is studied. A graph partition is constructed, in which part of the nodes are divided into different cells, which are selected as leaders. The…
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…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
Many mainstream robust control/estimation algorithms for power networks are designed using the Lyapunov theory as it provides performance guarantees for linear/nonlinear models of uncertain power networks but comes at the expense of…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Nevertheless, the operation of a dual-arm manipulator poses a dynamic…
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…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
In control design most control strategies are model-based and require accurate models to be applied successfully. Due to simplifications and the model-reality-gap physics-derived models frequently exhibit deviations from real-world-systems.…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
In this paper, we study a model reduction technique for leader-follower networked multi-agent systems defined on weighted, undirected graphs with arbitrary linear multivariable agent dynamics. In the network graph of this network, nodes…
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…