This paper deals with leader-following and leaderless consensus problems of high-order multi-input/multi-output (MIMO) multi-agent systems with unknown nonlinear dynamics in the presence of uncertain external disturbances. The agents may have different dynamics and communicate together under a directed graph. A distributed adaptive method is designed for both cases. The structures of the contro...

this paper studies the consensus problem of nonlinear leader-following multi-agent systems (mas). to do this, the error dynamics between the leader agent and follower ones are described via a takagi-sugeno (ts) fuzzy model. if the obtained ts fuzzy model is stable, then all of the nonlinear agents reach consensus. the consensus problem is investigated based on the parameterized or fuzzy lyapuno...

In this paper, we consider covering search problem of a moving “virtual leader” target by multiple pursuer agents. The “leader-following” flocking strategy is given to perform this coverage search mission by us. The simulation results have validated the algorithm’s effectiveness.

We consider the following location problem. New 5G networks are deployed by two competitive operators (called resp. O1 and O2), which we refer to as a leader and a follower due to their sequential entering the market. They compete to serve clients by installing and configuring base stations (BS). We assume that the leader had already made a decision and operating a 5G network. Follower arrives ...

Several results on the recon gurable control architecture for the formation ying of multiple spacecraft are presented. In this direction, simple control laws are combined with logic-based switching to propose a hybrid control architecture for leader reassignment, leader-following capturing, and dealing with control saturations.

In this paper we focus on solving a path following problem and keeping a geometrical formation. The problem of formation control is divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path, while each follower agent tracks a trajectory, estimated by using the leader’s information. In this paper, we exploit nonlinear model predictive co...

This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pi...

We investigate a new Follow the Perturbed Leader (FTPL) algorithm for online structured prediction problems. We show a regret bound which is comparable to the state of the art of FTPL algorithms and is comparable with the best possible regret in some cases. To better understand FTPL algorithms for online structured learning, we present a lower bound on the regret for a large and natural class o...

In this paper, novel coordinated control strategies are presented for control and analysis of multi-agents with point mass dynamics to achieve leaderless and leader-following flocking motions. Four control laws are proposed for a group of agents to achieve flocking formations. Two of them are for leaderless flocking and two for leader-following flocking relative to two different centers (mass c...