5 papers
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…
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…
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…
Robust Closed-Form Control for MIMO Nonlinear Systems under 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…