Related papers: Propensity Formation-Containment Control of Fully …
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that…
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…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
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…
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…
Federated Learning (FL) empowers multiple clients to collaboratively train machine learning models without sharing local data, making it highly applicable in heterogeneous Internet of Things (IoT) environments. However, intrinsic…
Learning-based control has attracted significant attention in recent years, especially for plants that are difficult to model based on first-principles. A key issue in learning-based control is how to make efficient use of data as the…
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…
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…
This paper introduces a novel data-driven hierarchical control scheme for managing a fleet of nonlinear, capacity-constrained autonomous agents in an iterative environment. We propose a control framework consisting of a high-level dynamic…
This paper considers a leader-following formation control problem for heterogeneous, second-order, uncertain, input-affine, nonlinear multi-agent systems modeled by a directed graph. A tunable, three-layer neural network (NN) is proposed…
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…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
For most existing prescribed performance formation control methods, performance requirements are not directly imposed on the relative states between agents but on the consensus error, which lacks a clear physical interpretation of their…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…