17 citations · 85 across the 43 of their papers we have counts for
28 papers · 1 filter
Decentralised adaptive-gain control for eliminating epidemic spreading on networks
Liam Walsh, Mengbin Ye, Brian D. O. Anderson +1
This paper considers the classical Susceptible--Infected--Susceptible (SIS) network epidemic model, which describes a disease spreading through nodes, with the network links go…
A port-Hamiltonian framework for displacement-based and rigid formation tracking
Ningbo Li, Zhiyong Sun, Arjan van der Schaft +1
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists…
Moving Obstacle Collision Avoidance via Chance-Constrained MPC with CBF
Ming Li, Zhiyong Sun, Zirui Liao +1
Model predictive control (MPC) with control barrier functions (CBF) is a promising solution to address the moving obstacle collision avoidance (MOCA) problem. Unlike MPC with dista…
Automated Formation Control Synthesis from Temporal Logic Specifications
Shuhao Qi, Zengjie Zhang, Sofie Haesaert +1
In many practical scenarios, multi-robot systems are envisioned to support humans in executing complicated tasks within structured environments, such as search-and-rescue tasks. We…
Cooperative constrained motion coordination of networked heterogeneous vehicles
Zhiyong Sun, Marcus Greiff, Anders Robertsson +2
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints,…
Quadrotor Control on with SLAM Integration
Marcus Greiff, Patrik Persson, Zhiyong Sun +2
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on , and relate this result to a family of geometric tracking…
Distributed adaptive stabilization
Zhiyong Sun, Anders Rantzer, Zhongkui Li +1
In this paper we consider distributed adaptive stabilization for uncertain multivariable linear systems with a time-varying diagonal matrix gain. We show that uncertain multivariab…
Collaborative Target Tracking in Elliptic Coordinates: a Binocular Coordination Approach
Yuan Chang, Zhiyong Sun, Han Zhou +3
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measu…
On global convergence of area-constrained formations of hierarchical multi-agent systems
Toshiharu Sugie, Fei Tong, Brian D. O. Anderson +1
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution f…
Optimal control of nonlinear systems with unsymmetrical input constraints and its applications to the UAV circumnavigation problem
Yangguang Yu, Xiangke Wang, Zhiyong Sun +1
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introduci…
Event triggering control for dynamical systems with designable minimum inter-event time
Xing Chu, Na Huang, Zhiyong Sun
This paper presents a class of event-triggering rules for dynamical control systems with guaranteed positive minimum inter-event time (MIET). We first propose an event-based functi…
Hybrid distance-angle rigidity theory with signed constraints and its applications to formation shape control
Seong-Ho Kwon, Zhiyong Sun, Brian D. O. Anderson +1
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3…
Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles
Xiuhui Peng, Zhiyong Sun, Kexin Guo +1
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an in…
Cooperative event-based rigid formation control
Zhiyong Sun, Qingchen Liu, Na Huang +2
This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which…
Temporal viability regulation for control affine systems with applications to mobile vehicle coordination under time-varying motion constraints
Marcus Greiff, Zhiyong Sun, Anders Robertsson +1
Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications. In this paper we develop a…
Collaborative target-tracking control using multiple autonomous fixed-wing UAVs with constant speeds
Zhiyong Sun, Hector Garcia de Marina, Brian D. O. Anderson +1
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fi…
Feasibility and coordination of multiple mobile vehicles with mixed equality and inequality constraints
Zhiyong Sun, Marcus Greiff, Anders Robertsson +1
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints,…
On the stability and applications of distance-based flexible formations
Hector Garcia de Marina, Zhiyong Sun, Shaoshuai Mou
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given dis…
Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements
Zhiyong Sun, Hector Garcia de Marina, Brian D. O. Anderson +1
In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by inter-agent distances. Because of practical sensing and me…
On a hierarchical control strategy for multi-agent formation without reflection
Toshiharu Sugie, Brian D. O. Anderson, Zhiyong Sun +1
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distance…
Identification of Hessian matrix in distributed gradient-based multi-agent coordination control systems
Zhiyong Sun, Toshiharu Sugie
Multi-agent coordination control usually involves a potential function that encodes information of a global control task, while the control input for individual agents is often des…
Controlling a triangular flexible formation of autonomous agents
Hector Garcia de Marina, Zhiyong Sun, Ming Cao +1
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different…
Dimensional-invariance principles in coupled dynamical systems-- A unified analysis and applications
Zhiyong Sun, Changbin, Yu
In this paper we study coupled dynamical systems and investigate dimension properties of the subspace spanned by solutions of each individual system. Relevant problems on \textit{c…
Laman Graphs are Generically Bearing Rigid in Arbitrary Dimensions
Shiyu Zhao, Zhiyong Sun, Daniel Zelazo +2
This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is…