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The control of the collective behavior of multiple interacting agents is a challenging problem in robotics and autonomous systems design. Such behaviors can be characterized by the dynamic interaction between multiple locomoting bipeds with highly nonlinear articulation dynamics. The analysis and design of the stability properties of such complex multi-component systems is a largely unsolved problem...
We present a novel strategy based on the use of contraction theory to coordinate motion in multiagent systems. We discuss two possible solutions to the rendezvous problem in planar roving agents by means of both linear and nonlinear communication protocols. Proofs of asymptotic stability are given together with the numerical validation of the theoretical results on a representative example.
A recent algorithm proposed for real-time computation of individual agent reference trajectories for formation tracking under realistic dynamic and actuator constraints shows remarkable formation keeping and formation reconfiguration capability. A key assumption for its successful execution however is that the accurate system state should be available at the beginning of each computation segment....
We regard a network of coupled nonlinear dynamical systems that we want to control optimally. The cost function is assumed to be separable and convex. The algorithm we propose to address the numerical solution of this problem is based on two ingredients: first, we exploit the convex problem structure using a sequential convex programming framework that linearizes the nonlinear dynamics in each iteration...
Thanks to their cheap startup costs, flexibility, and standard infrastructure re-usability, Networked Control Systems have gained the attention of both the control community and the industry. Unfortunately, the presence of communication networks might introduce nondeterminism due to (random) delays and/or (unpredictable) information losses. In this paper, an event-based model predictive control approach...
In this paper, we study the discrete-time nonlinear consensus protocols over both directed and undirected networks with fixed topology. First, the notions of (global/exponential) semistability are introduced for systems with a continuum of equilibria. In terms of (global/exponential) consensus defined based on the notion of semistability, we have derived convergence conditions for the general discrete-time...
This work develops a provably stable broadcast feedback approach to regulating the aggregate output of a collection of stochastically behaving cellular units with pronounced hysteresis. Similar to skeletal muscle, comprised of a number of muscle fibers, the cellular units are independent and each contributes to an aggregate system output. The control architecture consists of a central controller that...
A simple distributed power control algorithm for communication networks with each user communicating to several base stations is proposed. We prove that the proposed algorithm is globally converging
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