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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…
In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with…
This paper addresses the finite-time non-overshooting leader-following consensus problem for multi-agent systems, whose agents are modeled by a dynamical system topologically equivalent to the integrator chain. Based on the weighted…
We propose a Reinforcement Learning framework for sparse indirect control of large-scale multi-agent systems, where few controlled agents shape the collective behavior of many uncontrolled agents. The approach addresses this multi-scale…
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 introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
This paper investigates the problem of resilient global practical fixed-time cooperative output regulation of uncertain nonlinear multi-agent systems subject to denial-of-service attacks. A novel distributed resilient adaptive fixed-time…
This study proposes the use of a social learning method to estimate a global state within a multi-agent off-policy actor-critic algorithm for reinforcement learning (RL) operating in a partially observable environment. We assume that the…
In this paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external…
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed…
The emergence of multi-agent reinforcement learning (MARL) is significantly transforming various fields like autonomous vehicle networks. However, real-world multi-agent systems typically contain multiple roles, and the scale of these…
In this paper, we assume that an autonomous exosystem generates a reference output, and we consider the problem of designing a distributed data-driven control law for a family of discrete-time heterogeneous LTI agents, connected through a…
This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-agent systems. The considered systems have sensors and…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work that has only considered systems with dynamically decoupled…
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into…
In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…