相关论文: Distributed Fault-Tolerant Control for Heterogeneo…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…
Modern communication systems need to fulfill multiple and often conflicting objectives at the same time. In particular, new applications require high reliability while operating at low transmit powers. Moreover, reliability constraints may…
The problem of adversary target detection and the subsequent task completion using a heterogeneous network of resource-constrained UAVs is considered. No prior knowledge about locations and required resources to identify these targets is…
Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
In this work, we investigate the problem of an online trajectory design for an Unmanned Aerial Vehicle (UAV) in a Federated Learning (FL) setting where several different communities exist, each defined by a unique task to be learned. In…
In this work, an $H_{\infty}$ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
The current paper addresses the distributed guaranteed-performance consensus design problems for general high-order linear multiagent systems with leaderless and leader-follower structures, respectively. The information about the Laplacian…
This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to signal temporal logic specifications. Prescribed performance…
The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
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…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…