Related papers: Distributed Event-Triggered Distance-Based Formati…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…
In this paper, we propose an adaptive event-triggered reinforcement learning control for continuous-time nonlinear systems, subject to bounded uncertainties, characterized by complex interactions. Specifically, the proposed method is…
This paper mainly investigates consensus problem with pull-based event-triggered feedback control. For each agent, the diffusion coupling feedbacks are based on the states of its in-neighbors at its latest triggering time and the next…
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…
Event-triggered control has the potential to provide a similar performance level as time-triggered (periodic) control while triggering events less frequently. It therefore appears intuitive that it is also a viable approach for distributed…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
This paper investigates the robust cooperative output regulation problem for a class of heterogeneous uncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizing the internal model approach…
This article proposes a distributed control method for matrix-scaled multi-agent networks aimed at achieving convergence within a user-defined time frame. The control law of each individual agent relies only on information from neighboring…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…