17 citations · 85 across the 43 of their papers we have counts for
8 papers · 1 filter
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…
Formation Shape Control Based on Distance Measurements Using Lie Bracket Approximations
Raik Suttner, Zhiyong Sun
We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations…