This paper focuses on the convergence rate and numerical characteristics of the nonlinear information consensus filter for object tracking using a distributed sensor network. To avoid the Jacobian calculation, improve the numerical characteristic and achieve more accurate estimation results for nonlinear distributed estimation, we introduce square-root extensions of derivative-free information ...

This paper presents an analysis of the synchronization and consensus problems of networked manipulators operating on an underactuated dynamic platform in the presence of communication delays. The proposed formulation does not require detailed information about the system model. A theoretical formulation based on input-output maps of functional differential equations shows that the control syste...

This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler–Lagrange equations. It is assumed that the communication graph is simply connected and that the systems are fully actuated, with their states available for measurement. The communications can be subject to constant time-delays. The main result of the paper is a controller f...

This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to veri...

The newly developed near-space vehicle has the characteristics of high speed and strong maneuverability, being able to perform vertical skips a wide range lateral maneuvers. Tracking this kind target with ground-based radars is difficult because limited detection caused by curvature Earth. Compared radars, satellite tracking platforms equipped Synthetic Aperture Radars (SARs) have range, can ke...

Cooperative regulation of multiagent systems has become an active research area in the past decade. This paper reviews some recent progress in distributed coordination control for leader-following multiagent systems and its applications in power system and mainly focuses on the cooperative tracking control in terms of consensus tracking control and containment tracking control. Next, methods on...

A design method of adaptive consensus control of multi-agent systems composed of fully actuated mobile robots which are described as a class of Euler-Lagrange systems on directed network graphs, is presented in this paper based on the notion of inverse optimal H∞ control criterion. The proposed control scheme is deduced as a solution of certain H∞ control problem, where estimation errors of tun...

In this paper, we study the consensus output tracking control for multi-agent systems with high-order dynamics under directed communication topology. Time-varying reference is assumed to be available to a subgroup of a team. A leader-follower scheme is applied and robust consensus control is developed so that the reference is treated as disturbances to those agents with no access to the referen...

Design methodologies of adaptive H∞ consensus control of multi-agent systems composed of a class of infinite-dimensional systems are provided in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where the effects of neglected infinite-dimensional modes and the imperfect knowledge of the leader are regarded as external disturbances to the process. ...

In recent years, a great deal of interest has been focused on the control of mobile multi-robot systems. The primary reason for this interest in mobile multi-robot systems within the robotics research community is that such systems hold several advantages over single-robot systems. For example, these systems have the capability to quickly explore a large area, and for transporting heavy objects...