相关论文: Neuro-Adaptive Formation Control and Target Tracki…

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…

The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…

In this paper, the time-varying formation and time-varying formation tracking problems are solved for linear multi-agent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated to the digraph. The…

The primary purpose of this article is to accomplish safe grasping task by means of dual one-link flexible manipulators. In order to design a force-sensor-less force control, the direct force control problem is reduced to common motion…

We present a geometric neural network-based tracking controller for systems evolving on matrix Lie groups under unknown dynamics, actuator faults, and bounded disturbances. Leveraging the left-invariance of the tangent bundle of matrix Lie…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…

In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…

We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…

Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the…

This paper introduces a novel approach for achieving fixed-time tracking consensus control in multiagent systems (MASs). Departing from the reliance on traditional controllers, our innovative controller integrates modified tuning and…

Adaptive control strategies have progressively advanced to accommodate increasingly uncertain, delayed, and interconnected systems. This paper addresses the model reference adaptive control (MRAC) of networked, heterogeneous, and unknown…

This paper presents an adaptive tracking control method for a class of nonlinearly parameterized MIMO dynamic systems with time-varying delay and unknown nonlinear dead-zone inputs. A new high dimensional integral Lyapunov-Krasovskii…

This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…

This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…

This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks to achieve constrained control in differentially flat…

This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…

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…