Codes for the paper "Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints". IEEE Transactions on Cybernetics 2021 | Journal article. DOI: 10.1109/tcyb.2021.3104044
DR-TVFC is a control framework based on sliding mode control that decouples the consensus task and the formation task to achieve distributed formation tracking control for multi-agent control systems (MAS).
Simulate swarms of mobile agents in 2D and 3D.
Energy-aware multi-robot coverage
Three tanks system Decentralized,Distributed and Centralized control in MATLAB with yalmip, using LMI for controller design.
This code replicates the numerical simulations reported in the research paper entitled "Optimal time-invariant distributed formation tracking for second-order multi-agent systems"
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