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This paper studies output synchronization problem for a heterogenous network of discrete-time introspective right-invertible agents. We propose a decentralized control scheme to solve the output synchronization problem for a set of communication topologies. Moreover, if the synchronization trajectories are assumed to be bounded, a universal controller can be constructed for all communication topologies...
This paper studies robustness of synchronization in heterogeneous multi-agent systems, which is gained by interactions with other agents through the network. In order to effectively deal with the heterogeneous cases, we introduce the concept of the averaged dynamics which is the average of all agents' dynamics, and then claim that two sources enhance the robustness of the group behavior against differences...
This paper deals with formation control of UAVs using a virtual structure. A synchronization strategy is proposed to synchronize the errors of a virtual leader position and attitude tracking by using sliding mode control. The synchronization is based on cross coupling of sliding mode controllers in a general communication topology, and the stability of the proposed strategy is studied in the presence...
This paper studies the continuous-time distributed optimization of a sum of convex functions over directed graphs. Contrary to what is known in the consensus literature, where the same dynamics works for both undirected and directed scenarios, we show that the consensus-based dynamics that solves the continuous-time distributed optimization problem for undirected graphs fails to converge when transcribed...
This paper is concerned with the pinning control of networks of Lur'e type nonlinear oscillators through an innovative decentralized adaptive approach. In particular, time-varying feedback coupling and control gains are considered, whose derivatives are function of local error over each edge in the network. The strategy is shown to be successful in controlling the network to the desired trajectory...
The problem of output synchronization in a network of interconnected, heterogeneous linear systems is considered. The task is to find local controllers that guarantee synchronization using relative information only. Based on the Internal Model Principle for Synchronization, sufficient conditions are presented that lead to a constructive method for designing local dynamic controllers, which achieve...
Reversibility of dynamical processes arises in many physical dynamical systems. For example, lossless Newtonian and Hamiltonian mechanical systems exhibit trajectories that can be obtained by time going forward and backward, providing an example of time symmetry that arises in natural sciences. Another example of such time symmetry is the phenomenon known as Poincaré recurrence wherein the dynamical...
The paper investigates the formation patterns for a group of double-integrator agents in cyclic pursuit. It is shown that under distributed position and velocity feedback control, the agents may experience rendezvous, elliptical, and spiral patterns depending on the distribution of roots. By introducing a rigidity term in the control strategy, a new class of epicyclic motions can be created. The epicyclic...
A flatness-based design systematics is presented to realize desired velocity profiles for the Stokes equations in a 2D domain and spatially distributed interior control. The approach combines early and late lumping techniques and utilizes the spectral properties of the system operator. Re-summation techniques are integrated to enhance the domain of applicability as is illustrated in a simulation scenario.
In this paper, under repeatable operation environment, an iterative learning control (ILC) scheme is applied for multi-agent systems (MAS) to perform consensus tracking, where the underline communication graph is assumed to be fixed and directed. Different from many existing consensus schemes for linear agent dynamics, we consider time-varying nonlinear agent models with non-parametric uncertainties...
The problem of time optimal feedback control of a single input, continuous time, linear time invariant (LTI) system is considered. The control input is constrained to obey |u(t)| ≤ 1. It is known that the solution to this problem is bang-bang with the input switching between the extreme values ±1 according to some “switching surfaces” in the state space. It is shown that for a class of LTI systems,...
We propose an integral sliding surface for linear time-invariant implicit descriptions (descriptor systems). We show that, under reasonable assumptions (regularity, stabilizability and a corresponding matching condition), it is possible to design a controller that drives the descriptor variables to zero, even in the presence of disturbances. Higher-order sliding motions are required since, for the...
In this paper we develop an analytic approach to the solution of a very general class of discrete finite-horizon optimal control problems. This method hinges on a new decomposition of the so-called extended symplectic pencil. Interestingly, the results established in this paper hold under assumptions that are weaker than the ones considered in the literature so far.
In this paper the problem of generating zero error steady-state responses is addressed for a class of hybrid linear systems whose jumps are determined by time only. The procedure for the design of an automatic device generating the steady-state response and input is described. Once such device and a compensator ensuring incremental stability (see the companion paper) are available, the classical output...
In this paper, we consider group consensus problem by giving a kind of new protocol in which communication graph weights are all nonnegative. This is also consistent with classic protocols. The sufficient conditions which group consensus under this kind of protocols can reach for both single and second order multi-agent system are obtained. Finally, numerical examples are given to illustrate our theoretical...
This paper presents a novel descriptor for trajectory classification in n dimensions, which is invariant with respect to scaling and rigid transformation. Using a hierarchical approach, the descriptor is able to capture both local and global features of the trajectory. The algorithm iteratively splits up every trajectory into smaller trajectory segments resulting in a binary tree. Inspired by the...
In this paper, we address the consensus problem of second-order multi-agent systems with two kinds of topologies: fixed topology and time-delay topology. We introduce second-order protocols with and without time-delay and provide the consensus analysis for the topologies. We focus on the stability analysis of the second-order protocols. Finally, simulation results are provided to demonstrate the effectiveness...
In this paper, a class of integrator chain systems with bounded control is considered. A nested control law is proposed so that the closed-loop system is globally stabilized with the bounded control. Effectiveness of the proposed control law will be shown through simulation.
Based on the analysis of the invariant set in quantum Lyapunov control under a performance index with degrees of freedom, the population control of eigenstates is studied. For isolated target eigenstates, this paper shows the existence of the degrees of freedom that guarantee exact convergence and obtains rigorous construction relation of those degrees of freedom. For non-isolated target eigenstates,...
This paper presents a unifying approach to the problems of computing the admissible sets of parametrical multi-perturbations in a class of bounded sets. Some fundamental properties are maintained provided that the so-nominal system possesses the corresponding property.
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