100 citations · 381 across the 46 of their papers we have counts for
6 papers · 1 filter
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…
Controlling rigid formations of mobile agents under inconsistent measurements
Hector Garcia de Marina, Ming Cao, Bayu Jayawardhana
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective…
Some results on exponential synchronization of nonlinear systems (long version)
Vincent Andrieu, Bayu Jayawardhana, Sophie Tarbouriech
Based on recent works on transverse exponential stability, we establish some necessary and sufficient conditions for the existence of a (locally) exponential synchronizing control…
Distributed rotational and translational maneuvering of rigid formations and their applications
Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers fro…
Transverse exponential stability and applications
Vincent Andrieu, Bayu Jayawardhana, Laurent Praly
We investigate how the following properties are related to each other: i)-A manifold is "transversally" exponentially stable; ii)-The "transverse" linearization along any solution…