arXiv subjects

Tuynh Van Pham

Publications and source records attributed to Tuynh Van Pham.

3 recordsLinked to original sources

arXiv2026

Adaptive stabilization of a leaderless bearing-constrained formation with disturbances

In this paper, we consider the problem of regulating and maintaining a target formation characterized by a set of bidirectional bearing constraints under disturbances. The agents in the formation are modeled by single integrators with bounded continuous disturbances of which the upper bound is unavailable for the control design. Due to the time-varying disturbances, the target formation is time-varying. We propose adaptive sliding mode control laws to uniformly globally asymptotically stabilizes the moving target formation and reject the matched disturbances. In addition, to alleviate chattering phenomena from sliding mode control, smooth adaptive control laws are then designed to guarantee uniform global boundedness of the desired formation. Finally, simulation results are given to support the analysis.

cs.MA↗

arXiv2025

Consensus seeking in diffusive multidimensional networks with a repeated interaction pattern and time-delays

This paper studies a consensus problem in multidimensional networks having the same agent-to-agent interaction pattern under both intra- and cross-layer time delays. Several conditions for the agents to asymptotically reach a consensus are derived, which involve the overall network's structure, the local interacting pattern, and the assumptions specified on the time delays. The validity of these conditions is proved by direct eigenvalue evaluation and supported by numerical simulations.

eess.SY↗

arXiv2024

Bearing-Constrained Leader-Follower Formation of Single-Integrators with Disturbance Rejection: Adaptive Variable-Structure Approaches

This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired positions, while each follower is modeled by a single integrator with an additive time-varying disturbance. Adaptive variable-structure control laws using displacements or only bearing vectors are provided to stabilize the desired formation. Thanks to the adaptive mechanisms, the proposed control laws require neither information of the bearing Laplacian nor the disturbances' directions and upper bounds. It is further proved that when the leaders are moving with a same bounded uniformly continuous velocity, the moving target formation can still be achieved under the proposed control laws. Simulation results are also given to support the stability analysis.

eess.SY↗