Related papers: On Distributed Control of Continuum Swarms: Local …
It is known from both theory and experiments that introducing time delays into the communication network of mobile-agent swarms produces coherent rotational patterns. Often such spatio-temporal rotations can be bistable with other swarming…
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…
This paper addresses the problem of fixed-time cooperative output regulation for linear multi-agent systems over directed graphs under denial-of-service attacks. A novel distributed resilient fixed-time controller is developed that…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
We present D-Phi iteration: an algorithm for distributed, localized, and scalable robust control of systems with structured uncertainties. This algorithm combines the System Level Synthesis (SLS) parametrization for distributed control with…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…
In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale…
We propose data-driven decentralized control algorithms for stabilizing interconnected systems. We first derive a data-driven condition to synthesize a local controller that ensures the dissipativity of the local subsystems. Then, we…
From a mathematical point of view self-organization can be described as patterns to which certain dynamical systems modeling social dynamics tend spontaneously to be attracted. In this paper we explore situations beyond self-organization,…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
This paper studies a fundamental relation that exists between stabilizability assumptions usually employed in distributed model predictive control implementations, and the corresponding notions of invariance implicit in such controllers.…
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…
Coordinated optimization and control of distribution-level assets can enable a reliable and optimal integration of massive amount of distributed energy resources (DERs) and facilitate distribution system management (DSM). Accordingly, the…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as well as…
In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three control methodologies with diffusion, advection, and reaction as…
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the system dynamics contain unknown parameters, a finite set of…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
In this paper we consider a general, challenging distributed optimization set-up arising in several important network control applications. Agents of a network want to minimize the sum of local cost functions, each one depending on a local…