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Dimarogonas, Dimos V.ORCID iD iconorcid.org/0000-0001-7309-8086
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Publications (10 of 428) Show all publications
Tan, X. & Dimarogonas, D. V. (2024). On the undesired equilibria induced by control barrier function based quadratic programs. Automatica, 159, Article ID 111359.
Open this publication in new window or tab >>On the undesired equilibria induced by control barrier function based quadratic programs
2024 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 159, article id 111359Article in journal (Refereed) Published
Abstract [en]

In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback. In particular, we characterize the existence and locations of possible equilibrium points of the closedloop system and also provide analytical results on how design parameters affect them. Based on this analysis, a simple modification on the existing quadratic program-based controller is provided, which, without any assumptions other than those taken in the original program, inherits the safety set forward invariance property, and further guarantees the complete elimination of undesired equilibrium points in the interior of the safety set as well as one type of boundary equilibrium points, and local asymptotic stability of the origin. Numerical examples are given alongside the theoretical discussions.

Place, publisher, year, edition, pages
Elsevier BV, 2024
Keywords
Control barrier functions, Lyapunov method, Nonlinear analysis
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-340435 (URN)10.1016/j.automatica.2023.111359 (DOI)001102733800001 ()2-s2.0-85174902432 (Scopus ID)
Note

QC 20231205

Available from: 2023-12-05 Created: 2023-12-05 Last updated: 2023-12-05Bibliographically approved
Verginis, C. K., Kantaros, Y. & Dimarogonas, D. V. (2024). Planning and control of multi-robot-object systems under temporal logic tasks and uncertain dynamics. Robotics and Autonomous Systems, 174, Article ID 104646.
Open this publication in new window or tab >>Planning and control of multi-robot-object systems under temporal logic tasks and uncertain dynamics
2024 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 174, article id 104646Article in journal (Refereed) Published
Abstract [en]

We develop an algorithm for the motion and task planning of a system composed of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain dynamics in an obstacle-cluttered environment. The key part of the proposed solution is the intelligent construction of a coupled transition system that encodes the motion and tasks of the robots and the objects. We achieve such a construction by designing appropriate adaptive control protocols in the lower level, which guarantee the safe robot navigation/object transportation in the environment while compensating for the dynamic uncertainties. The transition system is efficiently interfaced with the temporal logic specification via a sampling-based algorithm to output a discrete path as a sequence of synchronized actions of the robots; such actions satisfy the robots’ as well as the objects’ specifications. The robots execute this discrete path by using the derived low level control protocol. Numerical experiments verify the proposed framework.

Place, publisher, year, edition, pages
Elsevier B.V., 2024
Keywords
Action planning, Adaptive control, Motion planning, Multi-robot systems, Temporal logics
National Category
Robotics Control Engineering Computer Sciences
Identifiers
urn:nbn:se:kth:diva-343478 (URN)10.1016/j.robot.2024.104646 (DOI)2-s2.0-85184027366 (Scopus ID)
Note

QC 20240215

Available from: 2024-02-15 Created: 2024-02-15 Last updated: 2024-02-15Bibliographically approved
Huang, Y., Meng, Z. & Dimarogonas, D. V. (2024). Prescribed performance formation control for second-order multi-agent systems with connectivity and collision constraints. Automatica, 160, Article ID 111412.
Open this publication in new window or tab >>Prescribed performance formation control for second-order multi-agent systems with connectivity and collision constraints
2024 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 160, article id 111412Article in journal (Refereed) Published
Abstract [en]

This paper studies the distributed formation control problem of second-order multi-agent systems (MASs) with limited communication ranges and collision avoidance constraints. A novel connectivity preservation and collision-free distributed control algorithm is proposed by combining prescribed performance control (PPC) and exponential zeroing control barrier Lyapunov functions (EZCBFs). In particular, we impose the time-varying performance constraints on the relative position and velocity errors between the neighboring agents, and then a PPC-based formation control algorithm is developed such that the connectivity of the communication graph can be preserved at all times, and the prescribed transient and steady performance on the relative position and velocity error can be achieved. Subsequently, by introducing the EZCBFs method, an inequality constraint condition on the control input is derived to guarantee the collision-free formation motion. By regarding the PPC-based formation controller as a nominal input, an actual formation control input is given by solving the quadratic programming (QP) problem such that each agent achieves collision-free formation motion while guaranteeing the connectivity and prescribed performance as much as possible. Finally, numerical simulation is carried out to validate the effectiveness of the proposed algorithm.

Place, publisher, year, edition, pages
Elsevier BV, 2024
Keywords
Collision avoidance, Connectivity preservation, Control barrier function, Distributed formation control, Prescribed performance control
National Category
Control Engineering Robotics
Identifiers
urn:nbn:se:kth:diva-340286 (URN)10.1016/j.automatica.2023.111412 (DOI)2-s2.0-85177233561 (Scopus ID)
Note

QC 20231201

Available from: 2023-12-01 Created: 2023-12-01 Last updated: 2023-12-01Bibliographically approved
Shaw Cortez, W., Verginis, C. K. & Dimarogonas, D. V. (2023). A Distributed, Event-Triggered, Adaptive Controller for Cooperative Manipulation With Rolling Contacts. IEEE Transactions on robotics, 1-14
Open this publication in new window or tab >>A Distributed, Event-Triggered, Adaptive Controller for Cooperative Manipulation With Rolling Contacts
2023 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, p. 1-14Article in journal (Refereed) Published
Abstract [en]

We present a distributed, event-triggered, and adaptive control algorithm for cooperative object manipulation withrolling contacts and unknown dynamic parameters. Whereasconventional cooperative manipulation methods require rigidcontact points, our approach exploits rolling effects of passiveend-effectors and does not require force/torque sensing. Theremoval of rigidity allows for more modular grasping, increasedapplication to more object types, and online adjustment ofthe grasp. The proposed control algorithm exhibits the following properties. Firstly, it is distributed, in the sense thatthe robotic agents calculate their own control signal, under anevent-triggered communication scheme. Such a scheme reducesthe inter-agent communication requirements with respect tocontinuous communication schemes. Secondly, it uses an onlineadaptation mechanism to accommodate for unknown dynamicparameters of the object and the agents. Finally, it adaptsexisting internal force controllers to guarantee no slip throughoutthe manipulation task despite the event-triggered nature of thecommunication scheme. Hardware implementation validates theeffectiveness of the proposed approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-326781 (URN)10.1109/tro.2023.3268595 (DOI)000988435000001 ()
Funder
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20230511

Available from: 2023-05-10 Created: 2023-05-10 Last updated: 2024-03-15Bibliographically approved
Wiltz, A., Tan, X. & Dimarogonas, D. V. (2023). Construction of Control Barrier Functions Using Predictions with Finite Horizon. In: 2023 62nd IEEE Conference on Decision and Control, CDC 2023: . Paper presented at 62nd IEEE Conference on Decision and Control, CDC 2023, Singapore, Singapore, Dec 13 2023 - Dec 15 2023 (pp. 2743-2749). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Construction of Control Barrier Functions Using Predictions with Finite Horizon
2023 (English)In: 2023 62nd IEEE Conference on Decision and Control, CDC 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 2743-2749Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we show that under mild controllability assumptions a time-invariant Control Barrier Function (CBF) can be constructed based on predictions with a finite horizon. As a starting point, we require only a known subset of a control-invariant set where the latter set does not need to be explicitly known. We show that, based on ideas similar to the Hamilton-Jacobi reachability analysis, the knowledge on the subset of a control-invariant set allows us to obtain a time-invariant CBF for the time-invariant dynamics under consideration. We also provide a thorough analysis of the properties of the constructed CBF, we characterize the impact of the prediction horizon, and comment on the practical implementation. In the end, we relate our construction approach to Model Predictive Control (MPC). With a relevant application example, we demonstrate how our method is applied.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-343748 (URN)10.1109/CDC49753.2023.10383564 (DOI)2-s2.0-85184685275 (Scopus ID)
Conference
62nd IEEE Conference on Decision and Control, CDC 2023, Singapore, Singapore, Dec 13 2023 - Dec 15 2023
Note

Part of ISBN 9798350301243

QC 20240222

Available from: 2024-02-22 Created: 2024-02-22 Last updated: 2024-02-22Bibliographically approved
Charitidou, M. & Dimarogonas, D. V. (2023). Control Barrier Functions for Disjunctions of Signal Temporal Logic Tasks. In: 2023 European Control Conference, ECC 2023: . Paper presented at 2023 European Control Conference, ECC 2023, Bucharest, Romania, Jun 13 2023 - Jun 16 2023. Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Control Barrier Functions for Disjunctions of Signal Temporal Logic Tasks
2023 (English)In: 2023 European Control Conference, ECC 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023Conference paper, Published paper (Refereed)
Abstract [en]

In this work we consider the control problem of systems that are subject to disjunctions of Signal Temporal Logic (STL) tasks. Motivated by existing approaches encoding the STL tasks utilizing time-varying control barrier functions (CBFs), we propose a continuously differentiable function for encoding the STL constraints that is defined as the composition of a smooth approximator of the max operator and a set of functions ensuring the satisfaction of the corresponding STL tasks with a desired robustness, and derive conditions for the choice of the class K function (when the latter is considered to be linear) to ensure that the proposed function is a CBF. Then, a control law ensuring the satisfaction of the STL task is found as a solution to a computationally efficient QP.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-335060 (URN)10.23919/ECC57647.2023.10178255 (DOI)001035589000140 ()2-s2.0-85166488864 (Scopus ID)
Conference
2023 European Control Conference, ECC 2023, Bucharest, Romania, Jun 13 2023 - Jun 16 2023
Note

Part of ISBN 9783907144084

QC 20230831

Available from: 2023-08-31 Created: 2023-08-31 Last updated: 2024-03-18Bibliographically approved
Mehdifar, F., Lindemann, L., Bechlioulis, C. P. & Dimarogonas, D. V. (2023). Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach.
Open this publication in new window or tab >>Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
2023 (English)Manuscript (preprint) (Other academic)
Abstract [en]

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set’s boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed employing the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach 

National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-341631 (URN)10.48550/arXiv.2307.06465 (DOI)
Note

Submitted to 62nd IEEE Conference on Decision and Control (CDC), Dec 13-15, 2023, Singapore

QC 20231228

Available from: 2023-12-27 Created: 2023-12-27 Last updated: 2023-12-28Bibliographically approved
Mehdifar, F., Lindemann, L., Bechlioulis, C. P. & Dimarogonas, D. V. (2023). Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach. In: 2023 62nd IEEE Conference on Decision and Control, CDC 2023: . Paper presented at 62nd IEEE Conference on Decision and Control, CDC 2023, Dec 13 2023 - Dec 15 2023, Singapore (pp. 6743-6748). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
2023 (English)In: 2023 62nd IEEE Conference on Decision and Control, CDC 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 6743-6748Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set's boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed em-ploying the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-343714 (URN)10.1109/CDC49753.2023.10383359 (DOI)2-s2.0-85184797094 (Scopus ID)
Conference
62nd IEEE Conference on Decision and Control, CDC 2023, Dec 13 2023 - Dec 15 2023, Singapore
Note

Part of ISBN: 979-8-3503-0124-3

QC 20240228

Available from: 2024-02-22 Created: 2024-02-22 Last updated: 2024-02-28Bibliographically approved
Sewlia, M., Verginis, C. K. & Dimarogonas, D. V. (2023). Cooperative Sampling-Based Motion Planning under Signal Temporal Logic Specifications. In: 2023 American Control Conference, ACC: . Paper presented at American Control Conference (ACC), MAY 31-JUN 02, 2023, San Diego, CA (pp. 2697-2702). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Cooperative Sampling-Based Motion Planning under Signal Temporal Logic Specifications
2023 (English)In: 2023 American Control Conference, ACC, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 2697-2702Conference paper, Published paper (Refereed)
Abstract [en]

We develop a cooperative sampling-based motion planning algorithm for two autonomous agents under coupled tasks expressed as signal temporal logic constraints. The algorithm builds incrementally two spatio-temporal trees, one for each agent, by sampling points in an extended space, which consists of a compact subset of the time domain and the physical space of the agents. The trees are built by checking if newly sampled points form edges in time and space that satisfy certain parts of the coupled task. Therefore, the constructed trees represent time-varying trajectories in the agents' state space that satisfy the task. The algorithm is distributed in the sense that the agents build their trees individually by communicating with each other. The proposed algorithm inherits the properties of probabilistic completeness and computational efficiency of the original sampling-based procedures.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Computer Sciences Control Engineering
Identifiers
urn:nbn:se:kth:diva-336812 (URN)10.23919/ACC55779.2023.10156470 (DOI)001027160302062 ()2-s2.0-85167821238 (Scopus ID)
Conference
American Control Conference (ACC), MAY 31-JUN 02, 2023, San Diego, CA
Note

Part of ISBN 979-8-3503-2806-6

QC 20230926

Available from: 2023-09-26 Created: 2023-09-26 Last updated: 2024-03-12Bibliographically approved
Marchesini, G., Roque, P. & Dimarogonas, D. V. (2023). Corridor MPC for Multi-Agent Inspection of Orbiting Structures.
Open this publication in new window or tab >>Corridor MPC for Multi-Agent Inspection of Orbiting Structures
2023 (English)Manuscript (preprint) (Other academic) [Artistic work]
Abstract [en]

In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit inspection. To this end, we leverage high-order control barrier function (HOCBF) constraints as a suitable control approach to maintain each agent in the formation within a safe corridor from its reference trajectory. Recursive feasibility of the designed MPC scheme is tested numerically, while suitable modifications of the classical HOCBF constraints definition are introduced such that safety is guaranteed both in sampled and continuous time. The designed controller is validated through computer simulation in a realistic inspection scenario of the International Space Station.

Keywords
predictive control, sampled-data control, aerospace
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Electrical Engineering; Applied and Computational Mathematics, Optimization and Systems Theory; Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-325530 (URN)
Funder
Wallenberg AI, Autonomous Systems and Software Program (WASP)
Note

Submitted to the 62nd IEEE Conference on Decision and Control (CDC 2023), Marina Bay Sands, Singapore, December 13-15, 2023.

QC 20230406

Available from: 2023-04-05 Created: 2023-04-05 Last updated: 2023-12-27Bibliographically approved
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Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-7309-8086

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