In this paper a generalization of avoidance control for multi-agent dynamic systems is presented. Strategies for avoidance control for multiple agents are obtained using individual Liapunov-type functions. The overall system avoidance conditions are guaranteed using a vector Liapunov-type function via an M-matrix property.

In this paper, we describe and simulate a number of algorithms created to address problems in distributed control systems. Based on tools from matrix theory, algebraic graph theory and control theory, a brief introduction is provided on consensus, rendezvous, and flocking protocols, and Dubins vehicle model. Recent results are then shown by simulating and enhancing various multi-agent dynamic s...

For uncalibrated visual servoing for image-based dynamic control of robot manipulators, acquiring an image Jacobian matrix (interaction matrix) or its inverse matrix is necessary and difficult. In this paper, a new controller of uncalibrated visual sevro using pseudo inverse of image Jacobian matrix is presented, which based on dynamics of robot manipulators. In this method, camera’s intrinsic ...

In this paper a generalization of avoidance control for multi-agent dynamic systems is presented. Strategies for avoidance control for multiple agents are obtained using individual Liapunov-type functions. The overall system avoidance conditions are guaranteed using a vector Liapunov-type function via an M-matrix property.

Many algorithms have been developed for enumerating various combinatorial objects in time exponentially less than the number of objects. Two common classes of algorithms are dynamic programming and the transfer matrix method. This paper covers the design and implementation of such algorithms. A host of general techniques for improving efficiency are described. Three quite different example prob...

The discrete-time stochastic optimal control problem is approximated by a variation of differential dynamic programming with systematic calculations of the perturbations due to small stochastic noise. This problem is related to the dual control aspects of stochastic optimal control problems. The motivation is to correct prior calculations for missing terms and to examine the foundations of the ...

A new framework to design immersion and invariance adaptive controllers for nonlinearly parameterized, nonlinear systems was recently proposed by the authors. The key step is the construction of a monotone mapping, via a suitable selection of a controller tuning function, which has to satisfy some integrability conditions—this translates into the need to solve a partial differential equation (P...

This paper presents a new adaptive DMC controller that improves the controller performance in case of plant-model mismatch. The new controller monitors the plant measured output, compares it with the model output and calculates weights applied to the controller move. Simulations show that the new controller can help improve control performance and avoid instability in case of severe model misma...