858 citations
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14 papers · 1 filter
Learning Stable and Robust Linear Parameter-Varying State-Space Models
Chris Verhoek, Ruigang Wang, Roland Tóth
This paper presents two direct parameterizations of stable and robust linear parameter-varying state-space (LPV-SS) models. The model parametrizations guarantee a priori that for a…
Multi-agent consensus over time-invariant and time-varying signed digraphs via eventual positivity
Angela Fontan, Lingfei Wang, Yiguang Hong +2
Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called "repelling" signed Laplacians, the marginal stabil…
A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems
Robert Mahony
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation…
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups
Yonhon Ng, Pieter van Goor, Tarek Hamel +1
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a ma…
A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle
Jack Henderson, Mohammad Zamani, Robert Mahony +1
Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimati…
Preserving Privacy of the Influence Structure in Friedkin-Johnsen Systems
Jack Liell-Cock, Ian R. Manchester, Guodong Shi
The nature of information sharing in common distributed consensus algorithms permits network eavesdroppers to expose sensitive system information. An important parameter within dis…