Zhongchang Liu

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In this paper, an estimate-inference-feedback control methodology is proposed for affine systems involving two agents executing cooperative control based on individual choices. No explicit communication channel exists between the two agents. The system state is estimated independently with an unbiased minimum variance (UMV) estimator by each agent and(More)
This paper considers the cluster synchronization problem for coupled agents which are described by heterogeneous linear dynamic models. The aim is to synchronize the outputs of the agent systems belonging to the same cluster. This problem is solved by incorporating a common internal reference system into agent systems belonging to the same cluster while in(More)
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several recently published papers, mainly from the perspective of system analysis on issues such as control communication(More)
This paper presents a decentralized strategy for collision-free navigation of multiple agents. This strategy combines the Optimal Reciprocal Collision Avoidance (ORCA) algorithm and Model Predictive Control (MPC). Concretely, each agent applies the decentralized ORCA algorithm to compute the collision-avoiding velocities with respect to its neighbors. The(More)
This paper aims to achieve cluster synchronization for coupled linear dynamical systems whose models are distinct in different clusters under directed nonnegative graphs. Both static coupling strategies and dynamic coupling strategies are utilized. The static couplings are applicable to interaction graphs where the inter-cluster connections are acyclic, and(More)
In this paper, an autonomous vision-based tracking system is presented to track a maneuvering target for a rotorcraft unmanned aerial vehicle (UAV) with an onboard gimbal camera. To handle target occlusions or loss for real-time tracking, a robust and computationally efficient visual tracking scheme is considered using the Kernelized Correlation Filter(More)
Distributed choice-based control systems are those where the controls exerted by the agents depend on the choices they have individually selected. They form an interesting class of decentralized systems in which control strategies are entangled with information structures. This paper focuses on linear systems that are jointly manipulated by multiple agents.(More)
Distributed choice-based control systems are systems for which the applied control of each agent is individually selected according to the agent’s choice. They form an interesting class of decentralized systems in which control strategies are entangled with the information structure. This paper focuses on an important subset of these systems that are(More)
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