Related papers: Performance bounds for multi-vehicle networks with…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…
It is desirable but challenging to fulfill system constraints and reach optimal performance in consensus protocol design for practical multi-agent systems (MASs). This paper investigates the optimal consensus problem for general linear MASs…
Vehicular networks will play an important role in enhancing road safety, improving transportation efficiency, and providing seamless Internet service for users on the road. Reaping the benefit of vehicular networks is contingent upon…
We study fundamental performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of whether dynamic feedback controllers perform better than static (memoryless)…
In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic…
This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
This paper develops a sequential-linearization feedback optimization framework for driving nonlinear dynamical systems to an optimal steady state. A fundamental challenge in feedback optimization is the requirement of accurate first-order…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
In this paper, the moment matching techniques are adopted to obtain reduced-order closed-loop systems with reduced-order controllers that maintain the closed-loop stability and guarantee desired asymptotic performance, after revealing the…
We study a class of cooperative multi-agent optimization problems, where each agent is associated with a local action vector and a local cost, and the goal is to cooperatively find the joint action profile that minimizes the average of the…
The Intelligent Driver Model is studied and several drawbacks with respect to driving simulators are defined. We present two modifications of the IDM. The first one gives any predefined distance to the leading vehicle in a steady state. The…
This paper addresses the distributed optimization of the finite condition number of the Laplacian matrix in multi-agent systems. The finite condition number, defined as the ratio of the largest to the second smallest eigenvalue of the…
A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with an unknown and…
Performance analysis of queueing networks is one of the most challenging areas of queueing theory. Barring very specialized models such as product-form type queueing networks, there exist very few results which provide provable…
We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…
We study the problem of distributed consensus in networks where the local agents have high-order ($n\ge 3$) integrator dynamics, and where all feedback is localized in that each agent has a bounded number of neighbors. We prove that no…
In most dynamic networks, it is impractical to measure all of the system states; instead, only a subset of the states are measured through sensors. Consequently, and unlike full state feedback controllers, output feedback control utilizes…