相关论文: Set-Membership Filtering-Based Leader-Follower Syn…

Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using…

This paper considers the gain-scheduled leader-follower tracking control problem for a parameter varying complex interconnected system with directed communication topology and uncertain norm-bounded coupling between the agents. A…

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 article is concerned with the convergence of the state estimate obtained from the discrete time Kalman filter to the continuous time estimate as the temporal discretization is refined. We derive convergence rate estimates for different…

This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to contain a directed spanning tree. We propose an adaptive…

We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some…

Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot…

We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these…

This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…

We study a distributed Kalman filtering problem in which a number of nodes cooperate without central coordination to estimate a common state based on local measurements and data received from neighbors. This is typically done by running a…

This paper studies synchronization in coupled nonlinear dynamic networks with unknown parameters. Adaptation can be added to one or several elements in the network, while preserving the global synchronization conditions derived in…

We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…

The population protocol model is a computational model for passive mobile agents. We address the leader election problem, which determines a unique leader on arbitrary communication graphs starting from any configuration. Unfortunately,…

This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…

We propose a framework for adaptive data-centric collaborative machine learning among self-interested agents, coordinated by an arbiter. Designed to handle the incremental nature of real-world data, the framework operates in an online…

In this paper we propose a novel methodology that allows to design, in a purely data-based fashion and for linear single-input and single-output systems, both robustly stable and performing control systems for tracking piecewise constant…

Linear consensus iterations guarantee asymptotic convergence, thereby, limiting their applicability in applications where consensus value needs to be used in real time to perform a system level task. It also leads to wastage of power and…

This paper develops a framework for synthesizing safety controllers for discrete-time stochastic linear control systems (dt-SLS) operating under communication imperfections. The control unit is remote and communicates with the sensor and…

This paper considers a strongly connected network of agents, each capable of partially observing and controlling a discrete-time linear time-invariant (LTI) system that is jointly observable and controllable. Additionally, agents…

We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are…