Related papers: Distributed Adaptive Backstepping Control for Vehi…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…
We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
We propose a command-filter backstepping controller that integrates a disturbance observer and a high-gain observer (HGO) to handle unknown internal and external disturbances acting on a quadrotor. To build the controller, we first define…
We consider the problem of designing a stabilizing and optimal static controller with a pre-specified sparsity pattern. Since this problem is NP-hard in general, it is necessary to resort to approximation approaches. In this paper, we…
This paper proposes a reinforcement learning-based approach for optimal transient frequency control in power systems with stability and safety guarantees. Building on Lyapunov stability theory and safety-critical control, we derive…
In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
In this paper, we present Lyapunov-based robust and adaptive controllers for the finite time stabilization of a perturbed chain of integrators with bounded uncertainties. The proposed controllers can be designed for integrator chains of any…
This paper presents a robust secondary control strategy for frequency synchronization and active power sharing for inverter-based microgrids. The problem is addressed in a multi-agent fashion where the local controllers of the distributed…
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependent high relative degree safety constraints on a non-linear…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
This paper addresses the stability problem for discrete-time switched systems under autonomous switching. Each mode of the switched system is modeled as a Linear Parameter Varying (LPV) system, the time-varying parameters can vary…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applications due to sequential modeling through self-attention…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the…