100 citations · 381 across the 46 of their papers we have counts for
24 papers · 1 filter
Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints
Zhiyu Peng, Bayu Jayawardhana, Xin Xin
The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate…
Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators
Zhiyu Peng, Bayu Jayawardhana, Xin Xin
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipula…
Flexible Distributed Flocking Control for Multi-agent Unicycle Systems
Tinghua Li, Bayu Jayawardhana
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking con…
Cooperative Nearest-Neighbor Control of Multi-Agent Systems: Consensus and Formation Control Problems
Muhammad Zaki Almuzakki, Bayu Jayawardhana
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumptio…
Range-Only Bearing Estimator for Localization and Mapping
Matteo Marcantoni, Bayu Jayawardhana, Kerstin Bunte
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy…
Data-driven dissipative verification of LTI systems: multiple shots of data, QDF supply-rate and application to a planar manipulator
Tábitha Esteves Rosa, Bayu Jayawardhana
We present a data-driven dissipative verification method for LTI systems based on using multiple input-output data. We assume that the supply-rate functions have a quadratic differ…
Collision-free Source Seeking and Flocking Control of Multi-agents with Connectivity Preservation
Tinghua Li, Bayu Jayawardhana
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-…
Kron-based Model-order Reduction of Open Mass-action Kinetics Chemical Reaction Networks
Mohamad Agung Prawira Negara, Azka Muji Burohman, Bayu Jayawardhana
We propose a Kron-based model-order reduction method for mass-action kinetics chemical reaction networks (CRN) with constant inflow and proportional outflow. The reduced-order mode…
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control
Santiago Sanchez-Escalonilla, Rodolfo Reyes-Baez, Bayu Jayawardhana
In this work we exploit the universal approximation property of Neural Networks (NNs) to design interconnection and damping assignment (IDA) passivity-based control (PBC) schemes f…
Homomorphic Encryption-Enabled Distance-Based Distributed Formation Control with Distance Mismatch Estimators
Mariano Perez Chaher, Bayu Jayawardhana, Junsoo Kim
This paper considers the use of fully homomorphic encryption for the realisation of distributed formation control of multi-agent systems via edge computer. In our proposed framewor…
On the one-shot data-driven verification of dissipativity of LTI systems with general quadratic supply rate function
Tábitha E. Rosa, Bayu Jayawardhana
Based on a one-shot input-output set of data from an LTI system, we present a verification method of dissipativity property based on a general quadratic supply-rate function. We sh…
On the characterization of butterfly and multi-loop hysteresis behavior
M. A. Vasquez-Beltran, B. Jayawardhana, R. Peletier
While it is widely used to represent hysteresis phenomena with unidirectional-oriented loops, we study in this paper the use of Preisach operator for describing hysteresis behavior…
Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: Two and Three Robot Case
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and r…
Recursive algorithm for the control of output remnant of Preisach hysteresis operator
M. A. Vasquez-Beltran, B. Jayawardhana, R. Peletier
We study in this paper the control of hysteresis-based actuator systems where its remanence behavior (e.g., the remaining memory when the actuation signal is set to zero) must foll…
Angle-Constrained Formation Control for Circular Mobile Robots
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to ha…
A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments
Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana +1
In this work we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robo…
Passivity based distributed tracking control of networked Euler-Lagrange systems
Rodolfo Reyes-Baez, Arjan van der Schaft, Bayu Jayawardhana
In this paper we present three distributed control laws for the coordination of networked Euler-Lagrange (EL) systems. We first reformulate the passivity-based control design metho…
Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach
Rodolfo Reyes-Báez, Alejandro Donaire, Arjan van der Schaft +2
In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dP…
Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots
Rodlfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a cons…
Distributed algorithm for controlling scale-free polygonal formations
Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons,…
Robustness Analysis of Systems' Safety through a New Notion of Input-to-State Safety
Muhammad Zakiyullah Romdlony, Bayu Jayawardhana
In this paper, we propose a new robustness notion that is applicable for certifying systems' safety with respect to external disturbance signals. The proposed input-to-state safety…
Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction
Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based…
Distributed scaling control of rigid formations
Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In…
Model-order reduction of biochemical reaction networks
Shodhan Rao, Arjan van der Schaft, Karen van Eunen +2
In this paper we propose a model-order reduction method for chemical reaction networks governed by general enzyme kinetics, including the mass-action and Michaelis-Menten kinetics.…