arXiv subjects

Yuqing Hao

Publications and source records attributed to Yuqing Hao.

4 recordsLinked to original sources

arXiv2025

Time-Varying Formation Tracking Control of Wheeled Mobile Robots With Region Constraint: A Generalized Udwadia-Kalaba Framework

In this article, the time-varying formation tracking control of wheeled mobile robots with region constraint is investigated from a generalized Udwadia-Kalaba framework. The communication network is modeled as a directed and weighted graph that has a spanning tree with the leader being the root. By reformulating the time-varying formation tracking control objective as an equality constrained equation and transforming the region constraint by a diffeomorphism, the time-varying formation tracking controller with the region constraint is designed under the generalized Udwadia-Kalaba framework. Compared with the existing works on time-varying formation tracking control, the region constraint is taken into account in this paper, which ensures the safety of the robots. Finally, the feasibility of the proposed control strategy is illustrated through some numerical simulations.

cs.RO↗

arXiv2024

Data-Driven Cooperative Output Regulation of Continuous-Time Multi-Agent Systems with Unknown Network Topology

This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller parameters, a novel approach is proposed that allows for the computation of the parameter without prior knowledge of the topology. A lower bound on the minimum non-zero eigenvalue of the Laplacian matrix is estimated using only edge weight bounds, enabling the output regulation controller design to be independent of global network information. Additionally, the common need for state derivative measurements is eliminated, reducing the amount of data requirements. Furthermore, necessary and sufficient conditions are established to ensure that the data are informative for cooperative output regulation, leading to the design of a distributed output regulation controller. For the case with noisy data, the bound of the output error is provided, which is positively correlated with the noise bound, and a distributed controller is constructed for the approximate cooperative output regulation. Finally, the effectiveness of the proposed methods is verified through numerical simulations.

cs.MA↗

arXiv2022

Discernibility of topological variations for networked LTI systems based on observed output trajectories

In this paper, the possibility of detecting topological variations by observing output trajectories from networked linear time-invariant systems is investigated, where the network topology can be general, but the nodes have identical higher-dimensional dynamics. A necessary and sufficient condition on the discernibility of topological variations is derived, in terms of the eigenspaces of the original and the modified network configuarations. By taking the specific network structures into consideration, some lower-dimensional conditions are derived, which reveal how the network topologies, sensor locations, node-system dynamics and output, as well as inner interactions altogether affect the discernibility. Furthermore, the output discernibility of topological changes for networked multi-agent systems is revisited, showing that some criterion reported in the literature does not hold. Consequently, a modified necessary and sufficient condition is established. The effectiveness of the results is demonstrated through several examples.

math.OC↗

arXiv2019

Controllability of Kronecker Product Networks

A necessary and sufficient condition is derived for the controllability of Kronecker product networks, where the factor networks are general directed graphs. The condition explicitly illustrates how the controllability of the factor networks affects the controllability of the composite network. For the special case where at least one factor network is diagonalizable, an easily-verifiable condition is explicitly expressed. Furthermore, the controllability of higher-dimensional multi-agent systems is revisited, revealing that some controllability criterion reported in the literature does not hold. Consequently, a modified necessary and sufficient condition is established. The effectiveness of the new conditions is demonstrated through several examples.

math.OC↗