Related papers: Discrete-Time Stress Matrix-Based Formation Contro…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this paper, we study the cooperative output regulation problem for the discrete linear time-delay multi-agent systems by distributed observer approach. In contrast with the same problem for continuous-time linear time-delay multi-agent…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a…
In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
The paper presented in this article deals with the issue of distributed cooperative formation of multi-agent systems (MASs). It proposes the use of appropriate neural network control methods to address formation requirements (uncertainties…
The leader-following consensus problem of multi-agent systems over finite fields ${\mathbb F}_p$ is considered in this paper. Dynamics of each agent is governed by a linear equation over ${\mathbb F}_p$, where a distributed control protocol…
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…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
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…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…