Mahdi Baradarannia

TL;DR: This work modify the conventional output regulation error in such a way that it can handle more than one leader, and introduces a dynamic compensator, based on a new formulation for containment error.

TL;DR: In this paper, the authors presented a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances, in which connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors.

TL;DR: It is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes, which is likely to happen in conventional distance-based formation control methods.

TL;DR: Finite time rigidity-based formation maneuvering control of single integrator multiagent systems is considered and it is proved that by using the controller, agents converge to the target formation and track the desired group velocity in finite time.

TL;DR: This paper addresses the containment control problem for a group of non-identical agents, where the dynamics of agents are supposed to be nonlinear with unknown parameters and parameterised by some functions.