Decentralized Control for the Multiple Agents in Strict Feedback Form

Adaptive Passivity-based Nonlinear Control for Strict Feedback Form Systems

This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). This paper also shows a comparison with a controller designed via Adaptive Backstepping ...

Dissipative Adaptive Control for Strict Feedback Form Systems

This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). The construction of the controller results in a chain of interconnected subsystems with ...

Decentralized Motion Control of Multiple Mobile Agents

Our navigation function methodology, established for centralized multiple robot navigation, is extended for decentralized navigation. The notion of interconnected systems is used to model the whole system, and asymptotic stability is guaranteed. The collision avoidance and global convergence properties are verified through simulations.

Decentralized risk-sensitive controller design for strict-feedback systems

Decentralized Feedback Stabilization and Collision Avoidance of Multiple Agents

The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the ...