Related papers: Robust Estimation and Control for Heterogeneous Mu…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
This paper considers a strongly connected network of agents, each capable of partially observing and controlling a discrete-time linear time-invariant (LTI) system that is jointly observable and controllable. Additionally, agents…
This paper analyzes output feedback control of a class of unknown nonlinear systems in the presence of measurement noise using multiple high-gain observers (MHGO). It is well-known that single high-gain observers (HGO) are not able to…
This paper addresses active state estimation with a team of robotic sensors. The states to be estimated are represented by spatially distributed, uncorrelated, stationary vectors. Given a prior belief on the geographic locations of the…
This work studies the synthesis of active perception policies for predictive safety monitoring in partially observable stochastic systems. Operating under strict sensing and communication budgets, the proposed monitor dynamically schedules…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
It poses technical difficulty to achieve stable tracking even for single mismatched nonlinear strict-feedback systems when intermittent state feedback is utilized. The underlying problem becomes even more complicated if such systems are…
This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each…
Moving horizon estimation (MHE) offers benefits relative to other estimation approaches by its ability to explicitly handle constraints, but suffers increased computation cost. To help enable MHE on platforms with limited computation power,…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
Although multi-agent reinforcement learning can tackle systems of strategically interacting entities, it currently fails in scalability and lacks rigorous convergence guarantees. Crucially, learning in multi-agent systems can become…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
Recent work has shown that decentralized algorithms can deliver superior performance over centralized ones in the context of machine learning. The two approaches, with the main difference residing in their distinct communication patterns,…
This paper studies distributed Q-learning for Linear Quadratic Regulator (LQR) in a multi-agent network. The existing results often assume that agents can observe the global system state, which may be infeasible in large-scale systems due…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
The paper provides a new approach to the determination of a single state value for stochastic output feedback problems using paradigms from Model Predictive Control, particularly the distinction between open-loop and closed-loop control and…
This paper proposes a novel distributed interval-valued simultaneous state and input observer for linear time-invariant (LTI) systems that are subject to attacks or unknown inputs injected both on their sensors and actuators. Each agent in…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
A simultaneous mode, input and state set-valued observer is proposed for hidden mode switched linear systems with bounded-norm noise and unknown input signals. The observer consists of two constituents: (i) a bank of mode-matched observers…