Related papers: High-Order Leader-Follower Tracking Control under …
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…
In this paper, network of agents with identical dynamics is considered. The agents are assumed to be fed by self and neighboring output measurements, while the states are not available for measuring. Viewing distributed estimation as dual…
This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
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…
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
This paper introduces a novel data-driven hierarchical control scheme for managing a fleet of nonlinear, capacity-constrained autonomous agents in an iterative environment. We propose a control framework consisting of a high-level dynamic…
This paper introduces an online data-driven learning scheme designed to address a novel problem in propensity formation and containment control for fully heterogeneous multi-agent systems. Unlike traditional approaches that rely on the…
We derive necessary and sufficient conditions for leader-follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation while satisfying certain transient constraints. A…
Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently…
The cooperative output regulation problem of linear multi-agent systems was formulated and studied by the distributed observer approach in [20, 21]. Since then, several variants and extensions have been proposed, and the technique of the…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…