255 citations · 1k across the 209 of their papers we have counts for
13 papers · 1 filter
On Disturbance Propagation in Vehicular Platoons with Different Communication Ranges
Chengshuai Wu, Meng Zhang, Dimos V. Dimarogonas
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string,…
Compatibility checking of multiple control barrier functions for input constrained systems
Xiao Tan, Dimos V. Dimarogonas
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform s…
From Partial and Horizontal Contraction to -Contraction
Chengshuai Wu, Dimos V. Dimarogonas
A geometric generalization of contraction theory called~-contraction was recently developed using -compound matrices. In this note, we focus on the relations between -cont…
A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints…
Handling Disjunctions in Signal Temporal Logic Based Control Through Nonsmooth Barrier Functions
Adrian Wiltz, Dimos V. Dimarogonas
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a contro…
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…
Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance
Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas +1
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of…
A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems
Wenceslao Shaw Cortez, Xiao Tan, Dimos V. Dimarogonas
We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications t…
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
Christos K. Verginis, Yiannis Kantaros, Dimos V. Dimarogonas
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constr…
Razumikhin and Krasovskii Approaches for Safe Stabilization
Wei Ren, Raphael M. Jungers, Dimos V. Dimarogonas
This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov fun…
Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts
Siyuan Liu, Adnane Saoud, Pushpak Jagtap +2
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnecte…
Distributed Consensus of Stochastic Multi-agent Systems with Prescribed Performance Constraints
Pushpak Jagtap, Dimos V. Dimarogonas
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics a…
Event-Triggered Tracking Control of Networked Multi-Agent Systems
Wei Ren, Dimos V. Dimarogonas
This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multi…