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86
Synchronization in Networks of Identical Linear Systems
, 2008
"... The paper investigates the synchronization of a network of identical linear statespace models under a possibly timevarying and directed interconnection structure. The main result is the construction of a dynamic output feedback coupling that achieves synchronization if the decoupled systems have n ..."
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Cited by 46 (0 self)
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The paper investigates the synchronization of a network of identical linear statespace models under a possibly timevarying and directed interconnection structure. The main result is the construction of a dynamic output feedback coupling that achieves synchronization if the decoupled systems have no exponentially unstable mode and if the communication graph is uniformly connected. The result can be interpreted as a generalization of classical consensus algorithms. Stronger conditions are shown to be sufficient – but to some extent, also necessary – to ensure synchronization with the diffusive static output coupling often considered in the literature. 1
An overview of recent progress in the study of distributed multiagent coordination
, 2012
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Synchronization and balancing on the Ntorus
 Systems and Control Letters
"... In this paper, we study the behavior of a network of N agents, each evolving on the circle. We propose a novel algorithm that achieves synchronization or balancing in phase models under mild connectedness assumptions on the (possibly timevarying and unidirectional) communication graphs. The global ..."
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Cited by 28 (12 self)
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In this paper, we study the behavior of a network of N agents, each evolving on the circle. We propose a novel algorithm that achieves synchronization or balancing in phase models under mild connectedness assumptions on the (possibly timevarying and unidirectional) communication graphs. The global convergence analysis on the Ntorus is a distinctive feature of the present work with respect to previous results that have focused on convergence in the Euclidean space.
Synchronization in Complex Networks of Phase Oscillators: A Survey
, 2014
"... The emergence of synchronization in a network of coupled oscillators is a fascinating subject of multidisciplinary research. This survey reviews the vast literature on the theory and the applications of complex oscillator networks. We focus on phase oscillator models that are widespread in realworl ..."
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Cited by 13 (1 self)
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The emergence of synchronization in a network of coupled oscillators is a fascinating subject of multidisciplinary research. This survey reviews the vast literature on the theory and the applications of complex oscillator networks. We focus on phase oscillator models that are widespread in realworld synchronization phenomena, that generalize the celebrated Kuramoto model, and that feature a rich phenomenology. We review the history and the countless applications of this model throughout science and engineering. We justify the importance of the widespread coupled oscillator model as a locally canonical model and describe some selected applications relevant to control scientists, including vehicle coordination, electric power networks, and clock synchronization. We introduce the reader to several synchronization notions and performance estimates. We propose analysis approaches to phase and frequency synchronization, phase balancing, pattern formation, and partial synchronization. We present the sharpest known results about synchronization in networks of homogeneous and heterogeneous oscillators, with complete or sparse interconnection topologies, and in finitedimensional and infinitedimensional settings. We conclude by summarizing the limitations of existing analysis methods and by highlighting some directions for future research.
Decentralized finitetime sliding mode estimators and their applications in decentralized finitetime formation tracking
 Systems & Control Letters
, 2010
"... AbstractIn this paper, a simple but efficient framework is proposed to achieve finitetime decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both firstorder and secondorder decentralized sl ..."
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Cited by 12 (2 self)
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AbstractIn this paper, a simple but efficient framework is proposed to achieve finitetime decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both firstorder and secondorder decentralized sliding mode estimators. In particular, we show that the proposed firstorder decentralized sliding mode estimator can guarantee accurate position estimation in finite time and the proposed secondorder decentralized sliding mode estimator can guarantee accurate position and velocity estimation in finite time. Then the decentralized sliding mode estimators are employed to achieve decentralized formation tracking of multiple autonomous vehicles. In particular, it is shown that formation tracking can be achieved for systems with both singleintegrator kinematics and doubleintegrator dynamics in finite time. Because accurate estimation can be achieved in finite time by using the decentralized sliding mode estimators, many formation tracking/flying scenarios can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking, without imposing a stringent condition on the information flow.
Stabilization of ThreeDimensional Collective Motion
, 2008
"... This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in threedimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem on the Lie algeb ..."
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Cited by 10 (3 self)
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This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in threedimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem on the Lie algebra. The resulting equilibria correspond to parallel, circular and helical formations. We first derive the stabilizing control laws in the presence of alltoall communication. Providing each agent with a consensus estimator, we then extend the results to a general setting that allows for unidirectional and timevarying communication topologies.
Online optimization of swimming and crawling in an amphibious snake robot
 IEEE Transactions on Robotics
, 2008
"... Abstract—An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amphibious snake robot, and aims at id ..."
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Cited by 10 (2 self)
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Abstract—An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amphibious snake robot, and aims at identifying fast swimming and crawling gaits for a variety of environments. Our approach uses a locomotion controller based on the biological concept of central pattern generators (CPGs) together with a gradientfree optimization method, Powell’s method. A key aspect of our approach is that the gaits are optimized online, i.e., while moving, rather than as an offline optimization process. We present various experiments with the real robot and in simulation: swimming, crawling on horizontal ground, and crawling on slopes. For each of these different situations, the optimized gaits are compared with the results of systematic explorations of the parameter space. The main outcomes of the experiments are: 1) optimal gaits are significantly different from one medium to the other; 2) the optimums are usually peaked, i.e., speed rapidly becomes suboptimal when the parameters are moved away from the optimal values; 3) our approach finds optimal gaits in much fewer iterations than the systematic search; and 4) the CPG has no problem dealing with the abrupt parameter changes during the optimization process. The relevance for robotic locomotion control is discussed. Index Terms—Amphibious snake robot, locomotion control, online optimization, serpentine crawling, swimming. I.
A distributed reconfigurable control law for escorting and patrolling missions using teams of unicycles
 in 49th IEEE Conf. on Decision and Control
, 2010
"... Abstract—Recent years have seen rapidly growing interest in the development of networks of vehicles for which adaptive cooperation and autonomous execution become a necessity. In the paper, we develop a distributed reconfigurable control law to distribute unicycletype vehicles evenly on a circle su ..."
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Cited by 9 (0 self)
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Abstract—Recent years have seen rapidly growing interest in the development of networks of vehicles for which adaptive cooperation and autonomous execution become a necessity. In the paper, we develop a distributed reconfigurable control law to distribute unicycletype vehicles evenly on a circle surrounding a moving target for the escorting and patrolling missions. The even distribution of the vehicles provides the best overall coverage of the target in its surroundings. It is shown that as the target moves, the group formation moves and rotates around the target to keep the target around the formation centroid. When some vehicles in the group are lost due to faults, the remaining vehicles recognize the loss and adaptively reconfigure themselves to a new evenly distributed formation.
Collaborative estimation of gradient direction by a formation of AUVs under communication constraints
 In Proc. of the 50th IEEE Conference on Decision and Control
, 2011
"... Abstract — This work deals with the sourceseeking problem in which the task is to locate the source of some signal using a fleet of Autonomous Underwater Vehicles (AUVs). The present paper proposes a distributed solution in which a group of vehicles uniformly distributed in a fixed circular formati ..."
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Cited by 8 (2 self)
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Abstract — This work deals with the sourceseeking problem in which the task is to locate the source of some signal using a fleet of Autonomous Underwater Vehicles (AUVs). The present paper proposes a distributed solution in which a group of vehicles uniformly distributed in a fixed circular formation, estimates the gradient direction of the signal propagation. The distributed algorithm takes into account the communication constraints and depends on direct signal measurements. Our approach is based on the previous results in formation control to stabilize the fleet in a circular formation with timevarying center and in a collaborative sourceseeking algorithm. The results are supported through computer simulations. I.