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This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to determine a geometric shape in an arbitrarily dimensional space. A necessary and sufficient graphical condition for infinitesimal weak rigidity of planar frameworks is derived. As an application of the proposed weak rigidity theory, a gradient based control law and a non-gradient based control law are designed for a group of single-integrator modeled agents to stabilize a desired formation shape, respectively. Using the gradient control law, we prove that an infinitesimally weakly rigid formation is locally exponentially stable. In particular, if the number of agents is one greater than the dimension of the space, a minimally infinitesimally weakly rigid formation is almost globally asymptotically stable. In the literature of rigid formation, the sensing graph is always required to be rigid. Using the non-gradient control law based on weak rigidity theory, the sensing graph is unnecessary to be rigid for local exponential stability of the formation. A numerical simulation is performed for illustrating effectiveness of our main results., Comment: This paper has been accepted by SIAM Journal on Control and Optimization

This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between segments uniquely up to translations, rotations, scalings and reflections. The proposed angle rigidity theory is applied to the formation stabilization problem, where multiple single-integrator modeled agents cooperatively achieve an angle-constrained formation. During the formation process, the global coordinate system is unknown for each agent and wireless communications between agents are not required. Moreover, by utilizing the advantage of high degrees of freedom, we propose a distributed control law for agents to stabilize a target formation shape with desired orientation and scale. Simulation examples are performed for illustrating effectiveness of the proposed control strategies., Comment: This paper is the extended version of our paper accepted by Automatica

The purpose of this paper is to study the mixed linear quadratic Gaussian (LQG) and $H_\infty$ optimal control problem for linear quantum stochastic systems, where the controller itself is also a quantum system, often referred to as "coherent feedback controller". A lower bound of the LQG control is proved. Then two different methods, rank constrained linear matrix inequality (LMI) method and genetic algorithm are proposed for controller design. A passive system (cavity) and a non-passive one (degenerate parametric amplifier, DPA) demonstrate the effectiveness of these two proposed algorithms., Comment: 21 pages, 1 figure, accepted by the International Journal of Control

The purpose of this paper is to present a theoretic and numerical study of utilizing squeezing and phase shift in coherent feedback control of linear quantum optical systems. A quadrature representation with built-in phase shifters is proposed for such systems. Fundamental structural characterizations of linear quantum optical systems are derived in terms of the new quadrature representation. These results reveal considerable insights of issue of physical realizability of such quantum systems. The problem of coherent quantum LQG feedback control studied in [35,50] is re-investigated in depth. Firstly, the optimization methods in [35,50] are extended to a multi-step optimization algorithm which utilizes ideal squeezers. Secondly, a two-stage optimization approach is proposed on the basis of controller parametrization. Numerical studies show that closed-loop systems designed via the second approach may offer LQG control performance even better than that when the closed-loop systems are in the vacuum state. When ideal squeezers in a close-loop system are replaced by (more realistic) degenerate parametric amplifiers, a sufficient condition is derived for the asymptotic stability of the resultant new closed-loop system; the issue of performance convergence is also discussed in the LQG control setting., Comment: 23 pages, 3 figures, to appear in SIAM Journal on Control and Optimization