Related papers: A Leader-Follower Approach for The Attitude Synchr…
In this paper, we study the problem of robust global synchronization of resetting clocks in multi-agent networked systems, where by robust global synchronization we mean synchronization that is insensitive to arbitrarily small disturbances,…
We study the problem of leader selection in leader-follower multi-agent systems that are subject to stochastic disturbances. This problem arises in applications such as vehicle formation control, distributed clock synchronization, and…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
We investigate the engineering scenario where the objective is to synchronize heterogeneous oscillators in a distributed fashion. The internal dynamics of each oscillator are general enough to capture their time-varying natural frequency as…
In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
This paper deals with data-driven output synchronization for heterogeneous leader-follower linear multi-agent systems. Given a multi-agent system that consists of one autonomous leader and a number of heterogeneous followers with external…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…
We examine synchronization of identical chaotic systems coupled in a drive/response manner. A rigorous criterion is presented which, if satisfied, guarantees that synchronization to the driving trajectory is linearly stable to…
This paper develops a distributed solution to the fully-heterogeneous containment control problem (CCP), for which not only the followers' dynamics but also the leaders' dynamics are non-identical. A novel formulation of the…
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…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the…
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…
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…