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— We consider systems that can be described by a linear part with a nonlinear perturbation, where the perturbation is parameterized by a vector of unknown, constant parameters. Under a set of technical assumptions about the perturbation and its relationship to the outputs, we present a modular observer design technique. The observers produced by this design… (More)

—We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-in-tegrator internal dynamics and arbitrary observation topology. We show that a simple multi-lead-compensator architecture, in particular one in which each agent uses a derivative-approximation compensator with three memory… (More)

The purpose of this paper is to examine the problem of controlling a linear time-invariant system subject to input saturation in order to have its output track (or reject) a family of reference (or disturbance) signals produced by some external generator. It is shown that a semi-global framework for this problem is a natural one. Within this framework, a… (More)

In this paper we consider the output synchronization problem for heterogeneous networks of linear agents. The network's communication infrastructure provides each agent with a linear combination of its own output relative to that of neighboring agents, and it allows the agents to exchange information about their own internal observer estimates. We design… (More)

— In this paper, we consider three problems, namely, the output consensus problem, the model-reference output consensus problem, and the regulation of output consensus problem, for a network of non-identical right-invertible linear agents. The network provides each agent with a linear combination of multiple agents' outputs. We assume that all the agents… (More)

—We present two results on attitude estimation using vector and rate gyro measurements. The first result concerns an observer previously presented by Hamel, Mahony, and Pflimlin, with proven stability results when (i) the reference vectors are stationary; or (ii) the gyro measurements are unbiased. We prove semiglobal stability without either of these… (More)

We address the problem of global sensor fusion for the purpose of distributed decision-making, from a control-theoretic perspective. In particular, we introduce a quasi-linear stochastic distributed protocol, using which a network of sensing agents can reach agreement in order to take a collective action. Using control-theoretic methods, we design the… (More)