Related papers: On Feedback Speed Control for a Planar Tracking

Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an important problem remains open: enforcing state constraints…

Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…

This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused 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…

This is a companion paper to (Cai, Rosenbaum and Tankov, Asymptotic lower bounds for optimal tracking: a linear programming approach, arXiv:1510.04295). We consider a class of strategies of feedback form for the problem of tracking and…

In this report we show the emergent behavior of a group of agents, ordered from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a broadcast guidance control. Each agent senses the relative position of its target,…

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…

This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…

This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…

In this letter, we propose an airborne maneuverable bi-static integrated sensing and communication system where both the transmitter and receiver are unmanned aerial vehicles. By timely forming a dynamic bi-static range based on the motion…

A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…

Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…

We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

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…

We address the problem of dynamic output feedback stabilization at an unobservable target point. The challenge lies in according the antagonistic nature of the objective and the properties of the system: the system tends to be less…

Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…

We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…

Much recent progress has been achieved for stabilization of linear and nonlinear systems with input delays that are long and dependent on either time or the plant state---provided the dependence is known. In this paper we consider the delay…

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…