24 citations · 59 across the 7 of their papers we have counts for
7 papers
Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constr…
Collaborative Satisfaction of Long-Term Spatial Constraints in Multi-Agent Systems: A Distributed Optimization Approach (extended version)
Farhad Mehdifar, Mani H. Dhullipalla, Charalampos P. Bechlioulis +1
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as ineq…
3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates
Omid Mirzaeedodangeh, Farhad Mehdifar, Dimos V. Dimarogonas
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Sp…
Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unli…
Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that t…
Funnel Control Under Hard and Soft Output Constraints (extended version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint con…
2-D Directed Formation Control Based on Bipolar Coordinates
Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx +1
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with…