Publications

This paper addresses the robust distributed Nash equilibrium seeking problem of N -player games under switching networks and communication delays. The salient feature of this work is that the switching communication networks can be uniformly strongly connected, and the communication delays are allowed to be arbitrarily unknown, time-varying and bounded. We illustrate our proposed approach by its application to practical motion control of mobile robots with some experiments. Videos: bilibili   Code: Github

In this paper, we investigate the trajectory tracking control problem of a class of uncertain Euler–Lagrange systems subject to disturbances. We propose a class of dynamic output feedback control laws which depends on the tracking error of the position and that of the velocity. Specifically, by characterizing the reference trajectory and the disturbances with an exosystem, we design an internal model to learn the desired feedforward input such that the reference trajectory can be tracked in spite of unknown system parameters and disturbances. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.

Authors： X. He, M. Lu

Videos: bilibili   Code: Github