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This paper aims to present a novel constructive framework for the functioning zone assignment of linear heterogeneous Multi-Agent dynamical systems, in order to improve the operation safety in a decentralized manner. The main contributions are related to partitioning the working space of this global system into multiple non-overlapping regions. The construction of the partition is mainly based on...
This paper deals with the task assignment problem, which represents a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms...
This paper presents an improved approach for guaranteed state estimation combining set-membership estimation techniques based on zonotopes and ellipsoids, applied on linear discrete-time systems with unknown but bounded perturbations and noises. The proposed approach starts with a zonotopic approximation and continues with an ellipsoidal approximation; this allows to manage the trade-off between the...
This paper proposes a new Matlab toolbox to simplify the task of designing robustified Model Predictive Controllers under both unstructured and structured uncertainties. With a user-friendly design, the toolbox offers the possibility to develop an initial stabilizing predictive controller to handle both Single-Input Single-Output or multivariable systems. Using the Youla-Kučera parametrization, this...
This paper proposes an off-line procedure which enables the robustification of an initial stabilizing controller for multivariable systems using the convex optimization of a Youla parameter. This robustification must provide stability robustness towards unstructured uncertainties for the nominal system, while guaranteeing stability properties over a specified polytopic domain of uncertainties. Solving...
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