Automatica (Journal of IFAC)
Brief paper: Region-based shape control for a swarm of robots
Automatica (Journal of IFAC)
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on game theory
Brief paper: Distributed finite-time attitude containment control for multiple rigid bodies
Automatica (Journal of IFAC)
Brief paper: Containment in leader-follower networks with switching communication topologies
Automatica (Journal of IFAC)
Tracking control for multi-agent consensus with an active leader and variable topology
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
In this paper, we study the distributed coordination problem for multiple Lagrangian systems in the presence of parametric uncertainties under a directed graph without using neighbors' velocity information in the absence of communication. We consider two cases, namely, the distributed containment control problem with multiple stationary leaders and the leaderless synchronization problem. In both cases, distributed adaptive control algorithms without using neighbors' velocity information are proposed. The control gains in the algorithms are varying with distributed updating laws. Furthermore, necessary and sufficient conditions on the directed graph are presented, respectively, such that all followers converge to the stationary convex hull spanned by the stationary leaders asymptotically in the containment control problem and the systems synchronize asymptotically in the leaderless synchronization problem. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.