Contractible controller design and optimal control with state and input inclusion
Automatica (Journal of IFAC)
Structure of Expansion-Contraction Matrices in the Inclusion Principle for Dynamic Systems
SIAM Journal on Matrix Analysis and Applications
Nonlinear formation control of unicycle-type mobile robots
Robotics and Autonomous Systems
International Journal of Robotics Research
Computational receding horizon approach to safe trajectory tracking
Integrated Computer-Aided Engineering
Optimal consensus algorithms for cooperative team of agents subject to partial information
Automatica (Journal of IFAC)
Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
Distributed network-based formation control
International Journal of Systems Science
Multi-agent team cooperation: A game theory approach
Automatica (Journal of IFAC)
Brief paper: Ring-coupled unicycles: Boundedness, convergence, and control
Automatica (Journal of IFAC)
Complexity of checking the existence of a stabilizing decentralized controller
ACC'09 Proceedings of the 2009 conference on American Control Conference
Decentralized overlapping tracking control of a formation of autonomous unmanned vehicles
ACC'09 Proceedings of the 2009 conference on American Control Conference
ACC'09 Proceedings of the 2009 conference on American Control Conference
A game theory approach to multi-agent team cooperation
ACC'09 Proceedings of the 2009 conference on American Control Conference
Cluster space collision avoidance for mobile two-robot systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Autonomous vehicle coordination with wireless sensor and actuator networks
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Practical formation control of multiple underactuated ships with limited sensing ranges
Robotics and Autonomous Systems
Practical Formation Control of Multiple Unicycle-Type Mobile Robots with Limited Sensing Ranges
Journal of Intelligent and Robotic Systems
Hybrid decentralized control of large scale systems
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
Automatica (Journal of IFAC)
A new approach to control design with overlapping information structure constraints
Automatica (Journal of IFAC)
Formation control of multiple elliptical agents with limited sensing ranges
Automatica (Journal of IFAC)
Hi-index | 22.16 |
Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an information structure constraint in which each vehicle, except the leader, only detects the vehicle directly in front of it, is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. Then, at each subsystem, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.