Exact decentralized output-feedback Lyapunov-based designs of direct model reference adaptive control (MRAC) for linear interconnected delay systems with MIMO subsystems are introduced. The design process uses a co-ordinated decentralized structure of adaptive control with reference model co-ordination which requires an exchange of signals between the different reference models. It is shown tha...

In this paper the formation and trajectory tracking control problem for multi-agent systems is presented. Initially, a control strategy for a group of holonomic robots is proposed. The proposed control is extended to the nonholonomic case. The control scheme is based on potential functions which make possible the design of decentralized formation control scheme while avoiding agents collisions....

This paper presents a novel method for designing robust MPC schemes that are self-optimizing in terms of disturbance attenuation. The method employs convex control Lyapunov functions and disturbance bounds to optimize robustness of the closed-loop system on-line, at each sampling instant a unique feature in MPC. Moreover, the proposed MPC algorithm is computationally efficient for nonlinear sys...

Abstract This paper presents a novel compensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators (MRMs). On the basis subsystem dynamics under joint torque feedback (JTF) technique, proposed error fusion function, which includes position and velocity error, is utilized to construct performance index function. By analyzing dynamic uncertainties...

The paper presents the problem of decentralized state feedback control for nonlinear interconnected systems with time-varying delay in both states and inputs which is composed by a number of Takagi-Sugeno (T-S) fuzzy bilinear subsystems with interconnections. Based on the Lyapunov criterion and the parallel distribute compensation scheme, the delay-dependent stabilization sufficient conditions ...

the modeling investigation in this paper discusses the system level effects of a toxicant on a three species food chain system. in the models, we have assumed that the presence of top predator reduces the predatory ability of the intermediate predator. the stability analysis of the models is carried out and the sufficient conditions for the existence and extinction of the populations under the ...

A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. Based on graph theory and Laplacian, the coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume...

The neutron density is one of the most important dynamical parameters in a reactor. It is directly related to the control and stability of the reactor power. Any change in applied reactivity and some of dynamical parameters in the reactor causes a change in the neutron density. Lyapunov exponent method is a powerful tool for investigating the range of stability and the transient behavior of the...