相关论文: Cooperative event-based rigid formation control
This paper deals with the stabilization of linear systems with process noise under packet drops between the sensor and the controller. Our aim is to ensure exponential convergence of the second moment of the plant state to a given bound in…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
This paper mainly investigates consensus problem with pull-based event-triggered feedback control. For each agent, the diffusion coupling feedbacks are based on the states of its in-neighbors at its latest triggering time and the next…
This paper presents an event-triggered boundary control strategy for a class of reaction-diffusion PDEs with time-varying reactivity under Robin actuation. The control approach consists of a backstepping full-state feedback boundary…
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling parameters. We firstly…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control…
The defining characteristic of event-based control is that feedback loops are only closed when indicated by a triggering condition that takes recent information about the system into account. This stands in contrast to periodic control…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
In this brief, an improved event-triggered update mechanism (ETM) for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on a novel event function…
We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
In this paper, we address the exponential stabilization of the linearized FitzHugh-Nagumo system using an event-triggered boundary control strategy. Employing the backstepping method, we derive a feedback control law that updates based on…
This paper provides observer-based sampled-data and event-triggered boundary control strategies for a class of reaction-diffusion PDEs with collocated sensing and Robin actuation. Infinite-dimensional backstepping design is used as the…
This paper presents a class of event-triggering rules for dynamical control systems with guaranteed positive minimum inter-event time (MIET). We first propose an event-based function design with guaranteed control performance under a…