Distributed Nash Equilibrium Seeking for Multicluster Aggregative Game of Euler-Lagrange Systems With Coupled Constraints.

This article considers the distributed Nash equilibrium seeking problem of a multicluster aggregative game subject to local set constraints, consensus constraints in the same cluster, and coupled linear equality and nonlinear inequality constraints among all clusters. In the considered game, each cluster is composed of a group of players formulated by uncertain Euler-Lagrange (EL) dynamics, and its objective is to minimize its own cost function, which is the sum of the local functions of all players in the cluster. The local cost function of each player depends on its own decision and an aggregate of the decisions of all the players.

Adaptive Formation Tracking Control of Multiple Vertical Takeoff and Landing UAVs With Bearing-Only Measurements.

This article studies the leader-following formation tracking control problem of multiple vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) subject to uncertain parameters, in which the target formation configuration is defined by using the interneighbors' bearing vectors. An adaptive formation control algorithm with bearing-only measurements is proposed under a hierarchical control framework. More specifically, a saturated adaptive distributed control force is developed in the position loop with bearing-only measurements.

Global Visual-Inertial Localization for Autonomous Vehicles with Pre-Built Map.

Accurate, robust and drift-free global pose estimation is a fundamental problem for autonomous vehicles. In this work, we propose a global drift-free map-based localization method for estimating the global poses of autonomous vehicles that integrates visual-inertial odometry and global localization with respect to a pre-built map. In contrast to previous work on visual-inertial localization, the global pre-built map provides global information to eliminate drift and assists in obtaining the global pose.

Real-time multi-quadrotor trajectory generation via distributed receding architecture and hierarchical planning in complex environments.

Generation of multi-quadrotor trajectories in real-time in complex three-dimensional environments remains a grand challenge. Trajectory planning becomes computationally prohibitive as the number of quadrotors and obstacles increases. This paper proposes the distributed receding architecture-based hierarchical trajectory planning method (drHTP) to tackle this issue.

Distributed Optimization for Second-Order Discrete-Time Multiagent Systems With Set Constraints.

The optimization problem of second-order discrete-time multiagent systems with set constraints is studied in this article. In particular, the involved agents cooperatively search an optimal solution of a global objective function summed by multiple local ones within the intersection of multiple constrained sets. We also consider that each pair of local objective function and constrained set is exclusively accessible to the respective agent, and each agent just interacts with its local neighbors.

Distributed Nonlinear Placement for Multicluster Systems: A Time-Varying Nash Equilibrium-Seeking Approach.

In this article, a class of distributed nonlinear placement problems is considered for a multicluster system. The task is to determine the positions of the agents in each cluster subject to the constraints on agent positions and the network topology. In particular, the agents in each cluster are placed to form the desired shape and minimize the sum of squares of the Euclidean lengths of the links amongst the center of each cluster and its corresponding cluster members.

Fully Distributed Event-Triggered Optimal Coordinated Control for Multiple Euler-Lagrangian Systems.

This article studies a fully distributed optimal coordinated control problem with the global cost function for networked Euler-Lagrange (EL) systems subject to unknown model parameters. In particular, the global cost function is the sum of all the local cost functions assigned to each agent and only available to itself. The objective is to minimize the global cost function in a distributed manner while achieving a consensus on its optimal solution.

Development of Co-Based Amorphous Composite Coatings Synthesized by Laser Cladding for Neutron Shielding.

Advanced amorphous coatings consisting of Co-based metallic glasses with ultrahigh strength (6 GPa) and high microhardness (up to 17 GPa) can significantly improve the surface properties of matrix materials. However, the intrinsic brittleness of Co-based metallic glasses can lead to the initiation of microcracks caused by the inevitable generation of thermal stress during the laser cladding process, which severely limits the potential application. In this paper, the methods of increasing substrate temperature and fabricating composite coatings with the addition of toughened Fe powders were adopted to inhibit the generation of microcracks in the CoTaB amorphous coatings.

Targeted Bipartite Consensus of Opinion Dynamics in Social Networks With Credibility Intervals.

This article investigates the targeted bipartite consensus problem of opinion dynamics in cooperative-antagonistic networks. Each agent in the network is assigned with a convergence set to represent a credibility interval, in which its opinion is trustworthy. The network topology is characterized by a signed switching digraph.

Velocity-Free Leader-Follower Cooperative Attitude Tracking of Multiple Rigid Bodies on SO(3).

A distributed control algorithm is proposed in this paper to achieve the leader-follower cooperative attitude tracking of multiple rigid bodies without using absolute and relative angular velocity information. The nonlinear manifold SO(3) is applied to represent the attitude of each rigid body. By considering the case of limited information exchange, i.

Cooperative Set Aggregation of Second-Order Multiagent Systems: Approximate Projection and Prescribed Performance.

This paper studies the cooperative set aggregation problem for second-order multiagent systems by utilizing the approximate projection algorithm. First, an aggregation law that uses the approximate projection is proposed, where the feasible set of the approximate projection points is established based on an Euclidean distance with respect to the targeted set and a deviated angle with respect to the exact projection point. Under the proposed law, the position vectors of all the agents are shown to reach an agreement in the intersection of their individual targeted sets and the velocity vector of each agent is shown to converge to zero.

Boundary Constraints for Minimum Cost Control of Directed Networks.

Controlling directed networks with minimum cost has become an emerging branch in the areas of complex networks and control recently. In this paper, we focus on this minimum cost control problem subject to two types of boundary constraints, namely, trace boundary constraint and orthonormal boundary constraint on the input matrices. First, the minimum cost control problem is formulated as an optimization model for each type of boundary constraint.

Delay-Induced Synchronization of Identical Linear Multiagent Systems.

This paper studies a class of fast consensus algorithms for a group of identical multiagent systems each described by the linear state-space model. By using both the current and delayed state information, the proposed delay-induced consensus algorithm is shown to achieve synchronization with a faster convergence speed than the standard one when the eigenvalues of the open-loop system, control parameters, the Laplacian matrix of the network, and the delay satisfy certain conditions. In addition, some sufficient or necessary and sufficient conditions are established to guarantee the closed-loop stability of the delay-induced consensus algorithm, where an extra control parameter on the coupling strength is introduced to adjust the convergence speed of the closed-loop system flexibly.

Leaderless and leader-following consensus with communication and input delays under a directed network topology.

In this paper, time-domain (Lyapunov theorems) and frequency-domain (the Nyquist stability criterion) approaches are used to study leaderless and leader-following consensus algorithms with communication and input delays under a directed network topology. We consider both the first-order and second-order cases and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained.