相关论文: Consensus controller with safety guarantee: an app…
We extend a multi-agent convex-optimization algorithm named Newton-Raphson consensus to a network scenario that involves directed, asynchronous and lossy communications. We theoretically analyze the stability and performance of the…
Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all…
Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel methodology that embeds safety into stability of control…
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs.…
In this paper, we formulate and solve a randomized optimal consensus problem for multi-agent systems with stochastically time-varying interconnection topology. The considered multi-agent system with a simple randomized iterating rule…
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…
This paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…
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…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
This paper investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multi-agent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly…
The coordination of highly automated vehicles (or agents) in road intersections is an inherently nonconvex and challenging problem. In this paper, we propose a distributed motion planning scheme under reasonable vehicle-to-vehicle…
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…
In this paper, we propose matrix-scaled consensus algorithms for linear dynamical agents interacting over an undirected network. Under the proposed algorithms, the state vectors of all agents to asymptotically agree up to some matrix…
We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…