相关论文: Distributed formation control of manipulators' end…
We investigate the performance of dynamical decoupling methods at suppressing electron spin decoherence from a low-temperature nuclear spin reservoir in a quantum dot. The controlled dynamics is studied through exact numerical simulation,…
Controlling the shapes of surfaces provides a novel way to direct self-assembly of colloidal particles on those surfaces and may be useful for material design. This motivates the investigation of an optimal control problem for surface shape…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…
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…
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Treatises on vibrations devote large space to study the dynamical behavior of an elastic system subject to known external tractions. In fact, usually a "system" is not an isolated body but it is part of a chain of mechanisms which disturb…
This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ recent results from the theory of symmetry-forced rigidity to…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
One salient feature of cooperative formation tracking is its distributed nature that relies on localized control and information sharing over a sparse communication network. That is, a distributed control manner could be prone to malicious…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
We apply perturbative techniques to a driven undamped sinusoidal oscillator at resonance. The angular displacement, $\theta$, obeys the dynamics $\Ddot{\theta} + \omega^{2} \sin{\theta} = H\cos{\omega t}$. The linearized approximation gives…
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…
We study the output feedback exponential stabilization of a one-dimensional unstable wave equation, where the boundary input, given by the Neumann trace at one end of the domain, is the sum of the control input and the total disturbance.…
In this work, we address the output--feedback control problem for nonlinear systems under bounded disturbances using a moving horizon approach. The controller is posed as an optimization-based problem that simultaneously estimates the state…
In this paper, we address a general eigenstructure assignment problem where the objective is to distribute the closed-loop modes over the components of the system outputs in such a way that, if a certain mode appears in a given output, it…