Related papers: Robust synchronization for multi-agent systems gov…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…
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…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
In this paper, we consider the problem of computing robust controlled invariants for discrete-time monotone dynamical systems. We consider different classes of monotone systems depending on whether the sets of states, control inputs and…
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
This work presents a decentralized time synchronization algorithm for multi-agent systems. Each agent possesses two clocks, a hardware clock that is perturbed by environmental phenomena (e.g., temperature, humidity, pressure, g forces,…
We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed input/state observer, each agent estimates the state and input…
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…
For 1-D parabolic PDEs with disturbances at both boundaries and distributed disturbances we provide ISS estimates in various norms. Due to the lack of an ISS Lyapunov functional for boundary disturbances, the proof methodology uses (i) an…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
An open multi-agent system (OMAS) features migrating agents which produce a flexible network that is naturally switching and size-varying. Meanwhile, agent migrations also make an OMAS prone to environmental adversities. In this work, we…