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This paper presents a finite-time heterogeneous cyclic pursuit scheme that ensures consensus among agents modelled as integrators. It is shown that for the proposed sliding mode control, even when the gains corresponding to each agent are…
Modeling and congestion mitigation of mixed-autonomy traffic systems consisting of human-driven vehicles (HVs) and autonomous vehicles (AVs) have become increasingly critical with the rapid development of autonomous driving technology. This…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
The ubiquitous interdependencies among higher-dimensional states of neighboring agents can be characterized by matrix-weighted networks. This paper examines event-triggered global consensus of matrix-weighted networks subject to actuator…
In a recent paper [8], we introduced a data-based approach to design event-triggered controllers for linear systems directly from data. Here, we extend the results in [8] to a class of nonlinear systems. We provide two data-based designs…
We present a prescriptive framework for the event-triggered control of nonlinear systems. Rather than closing the loop periodically, as traditionally done in digital control, in event-triggered implementations the loop is closed according…
This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded.…
Adaptive control strategies have progressively advanced to accommodate increasingly uncertain, delayed, and interconnected systems. This paper addresses the model reference adaptive control (MRAC) of networked, heterogeneous, and unknown…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
With the increasing ubiquity of networked control systems, various strategies for sampling constituent subsystems' outputs have emerged. In contrast with periodic sampling, event-triggered control provides a way to efficiently sample a…
We propose a data-driven tracking model predictive control (MPC) scheme to control unknown discrete-time linear time-invariant systems. The scheme uses a purely data-driven system parametrization to predict future trajectories based on…
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…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
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 view of the problems of large consumption of communication and computing resources in the control process, this note studies a fundamental property for a class of multi-agent systems under event-triggered strategy: the S-stabilizability…
In bipartite consensus tracking (BCT) tasks for nonlinear multiagent systems, stochastic disturbances and actuator faults are regarded as essential factors that hamper effective controller formulation and tracking precision improvement. To…
This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and…