Adaptive control for holonomically constrained robots: time-invariant and time-variant cases

2002 ◽  
Author(s):  
Yun-Hui Liu ◽  
S. Arimoto ◽  
K. Kitagaki
Keyword(s):  
Adaptive Control ◽  
Constrained Robots ◽  
Time Invariant

Resilient Control of Linear Time-Invariant Networked Multiagent Systems

2017 ◽  
Author(s):  
J. Daniel Peterson ◽  
Gerardo De La Torre ◽  
Tansel Yucelen ◽  
Dzung Tran ◽  
K. Merve Dogan ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Multiagent Systems ◽  
Linear Time ◽  
Relevant Literature ◽  
System Level ◽  
Linear Time Invariant ◽  
Distributed Adaptive Control ◽  
Exogenous Disturbances ◽  
Network Topologies ◽  
Time Invariant

A local state emulator-based adaptive control law is proposed for multiagent systems with agents having linear time-invariant dynamics. Specifically, we present and analyze a distributed adaptive control architecture, where agents achieve system-level goals in the presence of exogenous disturbances. Apart from existing relevant literature that makes specific assumptions on network topologies, agent dynamics, and/or the fraction of agents subjected to disturbances, the proposed approach allows agents to achieve system-level goals — even when all agents are subject to exogenous disturbances. Several numerical examples are provided to demonstrate the efficacy of our approach.

Sign in / Sign up

Export Citation Format

Share Document