Related papers: Robust multi-scale leader-follower control of larg…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
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…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
In this paper we propose a data-driven distributionally robust Model Predictive Control framework for constrained stochastic systems with unbounded additive disturbances. Recursive feasibility is ensured by optimizing over an linearly…
In this paper, a distributed learning leader-follower consensus protocol based on Gaussian process regression for a class of nonlinear multi-agent systems with unknown dynamics is designed. We propose a distributed learning approach to…
In this paper, we demonstrate a conflicting relationship between two crucial properties---controllability and robustness---in linear dynamical networks of diffusively coupled agents. In particular, for any given number of nodes $N$ and…
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…
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…
This chapter provides a comprehensive overview of controlling collective behavior in complex systems comprising large ensembles of interacting dynamical agents. Building upon traditional control theory's foundation in individual systems, we…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
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…
In animal societies as well as in human crowds, many observed collective behaviours result from self-organized processes based on local interactions among individuals. However, models of crowd dynamics are still lacking a systematic…
We consider a network of interacting agents and we model the process of choice on the adoption of a given innovative product by means of statistical-mechanics tools. The modelization allows us to focus on the effects of direct interactions…