相关论文: Distributed tracking control of leader-follower mu…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded.…
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…
This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
This paper studies the distributed average tracking problem pertaining to a discrete-time linear time-invariant multi-agent network, which is subject to, concurrently, input delays, random packet-drops, and reference noise. The problem…
In this paper, we present a data-driven distributed model predictive control (MPC) scheme to stabilise the origin of dynamically coupled discrete-time linear systems subject to decoupled input constraints. The local optimisation problems…
This paper proposes a novel approach to addressing the output synchronization problem in unknown heterogeneous multi-agent systems (MASs) using noisy data. Unlike existing studies that focus on noiseless data, we introduce a distributed…
In this paper, the decentralized estimation and linear quadratic (LQ) control problem for a leader-follower networked system (LFNS) is studied from the perspective of asymmetric information. Specifically, for a leader-follower network, the…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…
We introduce a class of distributed nonlinear control systems, termed as the flow-tracker dynamics, which capture phenomena where the average state is controlled by the average control input, with no individual agent has direct access to…
We propose a distributed (single) target tracking scheme based on networked estimation and consensus algorithms over static sensor networks. The tracking part is based on linear time-difference-of-arrival (TDOA) measurement proposed in our…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…