Thesiss

This thesis considers the design of distributed state and output feedback control algorithms for linear multi-agent systems with performance guarantees in the presence of delays. The multi-agent systems considered are assumed to exchange relative information over an information …

Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical cooperation with multiple manipulators working on a common object, interaction forces need to be controll…