Robust Multitask Formation Control via Parametric Lyapunov-Like Barrier Functions

DOI10.1109/TAC.2019.2894587MaRDI QIDQ5211205zbMATH OpenOpenAlexFDO

Authors Dongkun Han, Dimitra Panagou

Publication date 28 January 2020

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.2019.2894587

Mathematics Subject Classification ID

Decentralized systems (93A14) Design techniques (robust design, computer-aided design, etc.) (93B51) Lyapunov and storage functions (93D30)

Cited in

(9)

• Stabilization with guaranteed safety using barrier function and control Lyapunov function
• Synchronization and balancing around simple closed polar curves with bounded trajectories
• Robust output formation control for uncertain multi-agent systems
• Barrier Function Based Collaborative Control of Multiple Robots Under Signal Temporal Logic Tasks
• Cooperative target fencing of multiple vehicles for a general target with connectivity preservation and collision avoidance
• Decentralized navigation method for swarm robots with individual loss due to failure
• Robust distributed control within a curve virtual tube for a robotic swarm under self‐localization drift and precise relative navigation
• Safety-critical multi-tasks control for switched systems via several barrier functions
• Nominal control structure-agnostic model reference adaptive control with performance guarantees

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