Related papers: Fault-tolerant control of random switching topolog…
Event-triggered approach to networked control systems is used to reduce the workload of the communication network. For the static output-feedback continuous event-trigger may generate an infinite number of sampling instants in finite time…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
An important aspect in jointly analysing networked control systems and their communication is to model the networking in a sufficiently rich but at the same time mathematically tractable way. As such, this paper improves on a recently…
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into…
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 leader-following consensus of multiple linear time invariant (LTI) systems under switching topology is considered. The leader-following consensus problem consists of designing for each agent a distributed protocol to make all agents…
This article is concerned with stability analysis and stabilization of randomly switched systems under a class of switching signals. The switching signal is modeled as a jump stochastic (not necessarily Markovian) process independent of the…
This paper studies the stabilization problem of networked control systems (NCSs) with random packet dropouts caused by stochastic channels. To describe the effects of stochastic channels on the information transmission, the transmission…
We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a…
Event-triggered networked control of a linear dynamical system is investigated. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel. State and control input information packets…
Controllability refers to a situation in which a Multi-agent System may be steered from one state to another using specified rules. As a result, there is belief in achieving a given condition by explicit advances. The level of dynamism in…
A PDE-based control concept is developed to deploy a multi-agent system into desired formation profiles. The dynamic model is based on a coupled linear, time-variant parabolic distributed parameter system. By means of a particular coupling…
Event-triggered and self-triggered control have been proposed in recent years as promising control strategies to reduce communication resources in Networked Control Systems (NCSs). Based on the notion of set-invariance theory, this note…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
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…
We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…