Related papers: Robust multi-scale leader-follower control of larg…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully…
State-dependent networked dynamical systems are ones where the interconnections between agents change as a function of the states of the agents. Such systems are highly nonlinear, and a cohesive strategy for their control is lacking in the…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
We consider large but finite systems of identical agents on the line with up to next nearest neighbor asymmetric coupling. Each agent is modelled by a linear second order differential equation, linearly coupled to up to four of its…
In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
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 both animal and cell populations, the presence of leaders often underlies the success of collective migration processes, which we characterise by a group maintaining a cohesive configuration that consistently moves toward a target. We…
In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing…
This paper investigates event-triggered consensus tracking in nonlinear semi-strict-feedback multi-agent systems involving one leader and multiple followers. We first employ radial basis function neural networks and backstepping techniques…
This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in…
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 fundamental derivation of macroscopic model equations to describe swarms based on microscopic movement laws and mathematical analyses into their self-organisation capabilities remains a challenge from the perspective of both modelling…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…
In this paper, a decentralized stochastic control system consisting of one leader and many homogeneous followers is studied. The leader and followers are coupled in both dynamics and cost, where the dynamics are linear and the cost function…
We derive necessary and sufficient conditions for leader-follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation while satisfying certain transient constraints. A…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
The analysis and control of large-population systems is of great interest to diverse areas of research and engineering, ranging from epidemiology over robotic swarms to economics and finance. An increasingly popular and effective approach…