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In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
This paper deals with data-driven output synchronization for heterogeneous leader-follower linear multi-agent systems. Given a multi-agent system that consists of one autonomous leader and a number of heterogeneous followers with external…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…
We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
This paper considers a localized data-driven consensus problem for leader-follower multi-agent systems with unknown discrete-time agent dynamics, where each follower computes its local control gain using only their locally collected state…
This paper studies the formation stabilization problem of asynchronous nonlinear multi-agent systems (MAS) subject to parametric uncertainties, external disturbances and bounded time-varying communication delays. A self-triggered min-max…
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
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…
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
The adaptive distributed observer approach has been an effective tool for synthesizing a distributed control law for solving various control problems of leader-follower multiagent systems. However, the existing adaptive distributed observer…
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…