A reference-governed two-layer architecture using first-order CBFs and dynamic safety margins enables safe optimal output agreement in nonlinear multi-agent systems while preserving the steady-state optimum.
Distributed control to steer dynamical systems to the generalized nash equilibria for monotone aggregative games with 14 operational constraints.Automatica, 185:112794, 2026
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Reference-Governed Distributed Safe Gradient Flow for Safe Optimal Output Agreement of Multi-Agent Systems
A reference-governed two-layer architecture using first-order CBFs and dynamic safety margins enables safe optimal output agreement in nonlinear multi-agent systems while preserving the steady-state optimum.