Showing papers in "Systems & Control Letters in 2010"

TL;DR: The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems.

TL;DR: This paper addresses what kind of agents and how many agents should be pinned, and establishes some sufficient conditions to guarantee that all agents asymptotically follow the virtual leader.

TL;DR: This paper establishes exponential stability of suboptimal model predictive control and shows that the proposed cooperative control strategy is in this class, and establishes that under perturbation from a stable state estimator, the origin remains exponentially stable.

TL;DR: This work introduces double-tree-form transformations under which dynamic equations of agents are transformed into reduced-order systems and obtains some analysis results for group consensus problems in networks of dynamic agents.

TL;DR: It is shown that formation tracking can be achieved for systems with both single-Integrator kinematics and double-integrator dynamics in finite time and can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking.

TL;DR: It is shown that this matrix contains complete information of the input-state mapping and an easily verifiable necessary and sufficient condition for the controllability of a Boolean control network is obtained.

TL;DR: A rendezvous protocol with double-integrator dynamics is proposed, which can enable the group of mobile agents to converge to the same position and move with the same velocity while preserving the connectivity of the whole network during the evolution if the initial network is connected.

TL;DR: A distributed leader-follower flocking algorithm for multi-agent dynamical systems with time-varying velocities is developed where each agent is governed by second-order dynamics.

TL;DR: This note considers the case where the control inputs are required to be a priori bounded and the velocity is not available for feedback, and proposes a consensus algorithm that extends some of the existing results in the literature to account for actuator saturations and the lack of velocity measurement.

TL;DR: A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.

TL;DR: It is shown that the implicit Euler time-discretization of some classes of switching systems with sliding modes, yields a very good stabilization of the trajectory and of its derivative on the sliding surface, keeping the intrinsic discontinuous nature of the dynamics on the slide surfaces.

TL;DR: It is shown that the group of autonomous mobile robots collaboratively estimates the moving velocity of the target and asymptotically reaches a regular polygon formation to keep the moving target as its centroid.

TL;DR: This paper proposes fractional-order formation control algorithms with absolute/relative damping and studies the conditions on the network topology and the control gains such that the formation control will be achieved under a directed fixed networkTopology.

TL;DR: This paper addresses the problem of position and attitude estimation, based on landmark readings and velocity measurements, using a derivation of a nonlinear observer on SE(3) using a Lyapunov function conveniently expressed as a function of the difference between the estimated and the measured landmark coordinates.

TL;DR: This paper investigates collective rotating motions of second-order multi-agent systems with the help of Lyapunov theory for complex systems and proposes rotating formation protocols to make all agents move with a specific structure in a circular channel.

TL;DR: The technique used to prove the asymptotical convergence to zero of the observation error, based on the Lyapunov–Razumikhin approach, does not require any assumption about the dependence of the delay on the time.

TL;DR: The proposed method is used to design observers for three simulative examples and the effect of each state trajectory tracking is very satisfactory and the applicable class is larger than that given in the literature.

TL;DR: In this article, the authors discuss the use of Krylov subspace methods with regard to the problem of model order reduction for bilinear control systems, a special class of nonlinear systems, which are closely related to linear systems.

TL;DR: A hybrid control approach to the problem of steering a group of unicycle-type mobile robots to reach desired relative positions and orientations with respect to a specific target and other group-mates is presented, which is referred to as the cooperative target enclosing problem.

TL;DR: In this article, the authors considered a boundary stabilization problem for the wave equation with interior delay and proved an exponential stability result under some geometric condition, based on an identity with multipliers that allows them to obtain a uniform decay estimate for a suitable Lyapunov functional.

TL;DR: A Lyapunov-based adaptive controller is designed, which achieves global stability and regulation, for arbitrary initial estimates for the delays of unknown length and a two-block subclass of linear feedforward systems is considered.

TL;DR: The main contribution of this paper is in showing that incrementally input-to-state stable time-delay systems do admit symbolic models that are approximately bisimilar to the original system, with a precision that can be rendered as small as desired.

TL;DR: The existence-and-uniqueness theorem of neutral stochastic functional differential equations with infinite delay is established and the almost sure stability of this solution with general decay rate is examined.

TL;DR: This article develops the first actor-critic reinforcement learning algorithm with function approximation for a problem of control under multiple inequality constraints and proves the asymptotic almost sure convergence of the algorithm to a locally optimal policy.

TL;DR: Using tools from algebraic graph theory and dynamical systems theory, it is shown that the two teams, involving ateam of leaders and a team of followers, preserve some desired convergence properties, even if the geometric center of the leaders can only be obtained from estimators.

TL;DR: This work gives a stability analysis of reset compensators in feedback interconnection with passive nonlinear systems based on the passivity approach to L2-stability for feedback systems with exogenous inputs and the fact that a reset compensator will be passive if its base compensator is passive.

TL;DR: A robust interval observer is developed and applied to estimate the unknown variables of uncertain chaotic systems and it is shown that the proposed observer converges asymptotically toward a bounded error, leading to an original scheme of observer-based synchronization.

TL;DR: It is shown how a stochastic viability kernel and viable feedbacks relying on probability (or chance) constraints can be defined and computed by a dynamic programming equation.

TL;DR: The external behavior of linear resistive circuits with terminals is characterized as a linear input–output map given by a weighted Laplacian matrix that is derived for shaping the internal behavior of the circuit by interconnection with an additional resistive circuit.

TL;DR: A method is presented to systematically transform a general inequality-constrained optimal control problem (OCP) into a new equality- Constrained OCP by means of saturation functions, which can be treated more conveniently within the standard calculus of variations compared to the original constrained OCP.