General Research Interests

• Control systems, robotics and automation

• Distributed control of autonomous systems 

• Cooperative control and coordination for multi-agent systems 

• Graph rigidity theory and its application in formation shape control

Publications 

Also see my Google Scholar Profile

Book/Book Chapters 

1. Z. Sun. Cooperative Coordination and Formation Control for Multi- agent Systems. Springer Theses Series. Springer International Publishing, 2018.  Springer online link: http://www.springer.com/us/book/9783319742649.

2. B. D. O. Anderson, Z. Sun, G. S. Seyboth, and C. Yu. Collective formation control of multiple constant-speed UAVs with limited interactions. Invited contribution to the book Emerging Applications of Control and System Theory, pp. 15-27. Springer Science+Business Media, 2018.

Technical Reports

1. Z. Sun. Block diagonal stabilization. Working paper in preparation. 

2. Z. Sun.  A gathering of Barbalat's lemmas and their (unsung) cousins. arXiv preprint arXiv:2301.00466. Jan. 2023.

3. Z. Sun. A gallery of diagonal stability conditions with structured matrices (and review papers). arXiv preprint arXiv:2301.01272. Jan. 2023.

4. Z. Sun, B. D. O. Anderson, and W. Chen. A note on real similarity with diagonal dominant matrix. arXiv preprint arXiv:2302.11678. Feb. 2023. 

Working Papers

1. Z. Sun et al. Directed bearing equivalence. Working paper in preparation. 

2. Z. Sun et al.  Matrix diagonal conditions to solve the Brockett time-varying stabilization problem. Working paper in preparation. 

Conference Papers

1. T. van de Laar, Z. Zhang, S. Qi, S. Haesaert, Z. Sun. Vernacopter: Disambiguated natural-language-driven robot via formal specifications. arXiv preprint arXiv:2409.09536. 

2. Z. Liu, Z. Sun, J. Chen and M. Cao. Generalized singularity-free controller design for distance-based multi-agent formations. Presented at the 63rd IEEE Conference on Decision and Control (CDC 2024). March 2024

3. M. Li and Z. Sun. Safe Stabilization with Model Uncertainties: A Universal Formula with Gaussian Process Learning. Accepted by The 18th IEEE International Conference on Control & Automation (IEEE ICCA 2024), June 2024. Also available at arXiv:2312.02892. (Best Student Paper Award Winner)

4. W. de Vries, M Li, Q. Song, and Z. Sun. An alternating peak-optimization method for optimal trajectory generation of quadrotor drones. Accepted by the 22nd European Control Conference (ECC 2024) in Stockholm, Sweden. 

5. S Shi, Z Sun, and B. De Schutter. A Behavioral Perspective on Models of Linear Dynamical Networks with Manifest Variables. Accepted by the 22nd European Control Conference (ECC 2024) in Stockholm, Sweden. Also available at arXiv preprint arXiv:2310.15937. Oct. 2023

6. Z. Sun. A time-varying matrix solution to the Brockett decentralized stabilization problem. Accepted by the 62nd IEEE Conference on Decision and Control (CDC 2023). March 2023. 

7. S. Qi, Z. Zhang, S. Haesaert, and Z. Sun. Automated Formation Control Synthesis from Temporal Logic Specifications. Accepted by the 62nd IEEE Conference on Decision and Control (CDC 2023). March 2023. 

8. T. Jouini, Z. Sun, and V. Hagenmeyer. Leveraging second-order information to tune discrete-time angular droop controllers. Accepted by the 7th IEEE Conference on Control Technology and Applications (CCTA 2023). May 2023. 

9. Z. Sun, S. Zhao, and D. Zelazo. Characterizing bearing persistence in directed graphs. Accepted by the 22nd World Congress of the International Federation of Automatic Control (IFAC 2023). March 2023. 

10. T. Jouini, Z. Sun, V. Renganathan and V. Hagenmeyer. Input and state constrained inverse optimal control with application to power networks. Accepted by the 22nd World Congress of the International Federation of Automatic Control (IFAC 2023). March 2023. 

11. M. Li and  Z. Sun. Consensus-based distributed batch estimation in asynchronous wireless sensor networks. Accepted by the 22nd World Congress of the International Federation of Automatic Control (IFAC 2023). March 2023. 

12. L. Walsh, M. Ye, B. D.O. Anderson, and Z. Sun. Decentralised adaptive-gain control for the SIS network epidemic model. Accepted by the 22nd World Congress of the International Federation of Automatic Control (IFAC 2023). March 2023. 

13. Y. Kawano and Z. Sun. Stabilizing unknown nonlinear systems via distributed high-gain adaptive control. Accepted by the 22nd World Congress of the International Federation of Automatic Control (IFAC 2023). March 2023. 

14. M. Li and Z. Sun. A Graphical Interpretation and Universal Formula for Safe Stabilization. Accepted by the American  Control Conference (ACC 2023). Jan. 2023. 

15. M. Li and Z. Sun. A New Perspective on Projection-to-State Safety and Its Application to Robotic Arms. Accepted by the American  Control Conference (ACC 2023). Jan. 2023. 

16. M. H. Trinh, T. T. Nguyen, and Z. Sun. Adaptive distance-based formation control.  Accepted by the 17th International Conference on Control, Automation, Robotics and Vision (ICARCV 2022). June 2022. 

17. M. Li and Z. Sun. Total least squares estimation for motion-induced extrinsic calibration in multi-robot systems. Accepted by the 13th Asian Control Conference (ASCC 2022). May 2022. 

18. M. Greiff, P. Persson, Z. Sun, K. Åström, and A. Robertsson. Quadrotor Control on SU(2) x R^3 with SLAM Integration. Accepted by the 2022 IEEE Conference on Control Technology and Applications (CCTA 2022). June 2022. Long version available at https://arxiv.org/pdf/2110.01099.pdf  (Outstanding Conference Paper Award) 

19. M. Li and Z. Sun. Implicit Fixed-Time Convergence ISS Safe Control Barrier Functions for Signal Temporal Logic Tasks. Accepted by  the 2022 IEEE 17th International Conference on Control & Automation (ICCA 2022).  June 2022.

20. N. Li, J. Scherpen, A. van der Schaft and  Z. Sun. A passivity approach in port-Hamiltonian form for formation control and velocity tracking.  Accepted by the 20th European Control Conference (ECC 2022), June 2022.

21. W.  Yao,  H.  Garcia  de  Marina,  Z.  Sun,  and  M.  Cao.   Distributed  coordinated path following using guiding vector fields.  Accepted by the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). Feb.  2021.  (Best Conference Paper Finalist)

22. M. Greiff,  Z. Sun, and A. Robertsson. Tuning and Analysis of Geometric Tracking Controllers on SO(3). Accepted at the 2021 American  Control Conference (ACC 2021). Jan. 2021. 

23. Y. Chang, Z. Sun, H. Zhou, X. Wang, L. Shen, and T. Hu. Collaborative Target Tracking in Elliptic Coordinates: a Binocular Coordination Approach. Accepted at the 2021 American  Control Conference (ACC 2021). Jan. 2021. 

24. T. Jouini and Z. Sun. Distributed learning for  optimal share in radial power system networks. Accepted by the The 29th Mediterranean Conference on Control and Automation (MED 2021). Available at arXiv: https://arxiv.org/abs/2009.13857 

25. T. Jouini and Z. Sun. Fully decentralized conditions for asymptotic contraction of DC/AC converter network based on matching control. Accepted in The 59th IEEE Conference on Decision and Control (CDC’20). July 2020

26. T. Sugie, F. Tong, B. D. O. Anderson, and Z. Sun. On global convergence of area-constrained formations of hierarchical multi-agent systems. Accepted in The 59th IEEE Conference on Decision and Control (CDC’20). July 2020

27. T. Jouini and Z. Sun. Performance analysis and optimization of stochastic heterogeneous power systems network with correlated noise. Accepted in The 59th IEEE Conference on Decision and Control (CDC’20), joint submission to IEEE Control Systems Letters (L-CSS). July 2020.

28. S.-H. Kwon, Z. Sun, B. D. O. Anderson, and H.-S. Ahn. Hybrid distance-angle rigidity theory with signed constraints and its applications to formation shape control in the 2-D space. Accepted in The 59th IEEE Conference on Decision and Control (CDC’20). Full version available at arXiv: https://arxiv.org/abs/1912.12952. July 2020.

29. Q. V. Tran, Z. Sun, B. D. O. Anderson, and H.-S. Ahn. Distributed Computation of Graph Matching in Multi-Agent Networks. Accepted in The 59th IEEE Conference on Decision and Control (CDC'20). Available at arXiv: https://arxiv.org/abs/2002.08586 , July 2020

30. M. Greiff, Z. Sun, and A. Robertsson. Coordination Control of Double-Integrator Systems with Time-Varying Weighed Inputs. Accepted by the 2020 IFAC World Congress (IFAC 2020), Nov. 2019.

31. M. Ye, J. Liu, C. Cenedese, Z. Sun, and M. Cao. A Network SIS Meta-Population Model with Transportation Flow. Accepted by the 2020 IFAC World Congress (IFAC 2020), Nov. 2019. 

32. L. Chen, M. Cao, Z. Sun, B. D.O. Anderson, and C. Li. Angle-based Formation Shape Control with Velocity Alignment. Accepted by the 2020 IFAC World Congress (IFAC 2020), Nov. 2019. 

33. X. Chu, N. Huang, and Z. Sun. Event triggering control for dynamical systems with designable inter-event time. Accepted by the 2020 IFAC World Congress (IFAC 2020), Nov. 2019. 

34. Z. Sun, A. Rantzer, Z. Li, and A. Robertsson. On distributed high-gain adaptive stabilization. Accepted by the IEEE Conference on Decision and Control (CDC'19), July 2019. 

35. R. Suttner and Z. Sun. Exponential and practical exponential stability of second-order formation control systems. Accepted by the IEEE Conference on Decision and Control (CDC'19), July 2019.

36. M. Greiff, Z. Sun, A. Robertsson and R. Johansson. Temporal viability regulation for control affine systems with applications to mobile vehicle coordination under time-varying motion constraints. Accepted by the 2019 European Control Conference (ECC'19), July 2019. Available at arXiv: 1811.06350.

37. Y. Cao, Z. Sun, B. D. O. Anderson and T. Sugie. Almost global convergence for distance- and area-constrained hierarchical formations without reflection. Accepted by the 15th IEEE International Conference on Control and Automation (ICCA'19), Edinburgh, Scotland. June 2019.

38. Z. Sun, M. Greiff, A. Robertsson and R. Johansson. Feasible coordination of multiple homogeneous or heterogeneous mobile vehicles with various constraints. Accepted by the 2019 International Conference on Robotics and Automation (ICRA'19), Sep. 2018.

39. J. Liu, P. E. Pare, E. Du, and Z. Sun. A Networked SIS Disease Dynamics Model with a Waterborne Pathogen. Accepted by the 2019 American Control Conference (ACC'19), Sep. 2018.

40. H. Garcia de Marina, Z. Sun, and S. Mou. On the stability and applications of distance-based flexible formations. Accepted by the 57th IEEE Conference on Decision and Control (CDC'18), Miami, USA, December 2018.

41. T. Sugie, B. D. O. Anderson,  Z. Sun, and H. Dong. On a hierarchical control strategy for multi-agent formation without reflection. Accepted by the 57th IEEE Conference on Decision and Control (CDC'18), Miami, USA, December 2018.

42. M. Deghat, Z. Sun, D. Nesic, and C. Manzie. Singularly Perturbed Algorithms for Velocity Consensus and Shape Control of Single-Integrator Multi-Agent Systems. Accepted by the 7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (IFAC NecSys'18), Groningen, The Netherlands, August 2018. 

43. P. van Goor, Z. Sun, and C. Yu. Attitude and pose formation control for multiple 3-D rigid bodies based on unit Quaternion representation. Accepted by the 2018 Chinese Control Conference (CCC'18), Wuhan, China, July 2018.

44. Z. Li, J. Hong, C. Yu, and Z. Sun. Awareness design and analysis upon two infectious states based on susceptible-exposed-infected-vigilant (SEIV) model.  Proc. of the 2017 Asian Control Conference(ASCC'17), pp. 2334-2339, Gold Coast, Australia, 2017. 

45. P. van Goor, Z. Sun, and C. Yu. Attitude synchronization control for multi-agent systems on unit Quaternions. Proc. of the the 2017 Asian Control Conference(ASCC'17), pp. 216-221, Gold Coast, Australia, December 2017.

46. S. Zhao, Z. Sun, D. Zelazo, M. H. Trinh, and H.-S. Ahn. Laman Graphs are Generically Bearing Rigid in Arbitrary Dimensions. Proc. of the 56th IEEE Conference on Decision and Control (CDC'17), pp. 3356-3361, Melbourne, Australia, 2017. [ArXiv Link]

47. Q. Yang, M. Cao, Z. Sun,  H. Fang, J. Chen. Formation scaling control using the stress matrix. Proc. of  the 56th IEEE Conference on Decision and Control (CDC'17), pp. 3449-3454, Melbourne, Australia, 2017

48. B. D. O. Anderson, Z. Sun, T. Sugie, S. Azuma, and K. Sakurama. Distance-based rigid formation control with signed area constraints. Proc. of the  56th IEEE Conference on Decision and Control (CDC'17), pp. 2830-2835, Melbourne, Australia, 2017.

49. H. Garcia de Marina, Z. Sun, M. Bronz, and G. Hattenberger. Circular formation control of fixed-wing UAVs with constant speeds. Proc. of  the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'17), Vancouver, Canada, 2017.

50. S. Zhao and Z. Sun. Defend the Practicality of Single-Integrator Models in Multi-Robot Coordination Control. Proc. of the 13th IEEE International Conference on Control and Automation (ICCA'17), pp. 666-671, Ohrid, Macedonia, 2017. 

51. Q. Yang, Z. Sun, M. Cao, H. Fang, and J. Chen. Construction of Universally Rigid Frameworks and Their Applications in Formation Scaling Control. Proc. of the 36th Chinese Control Conference (CCC'17), pp. 8177-8182, Dalian, China, 2017.

52. Z. Sun, B. D. O. Anderson, S. Mou, and A. S. Morse. Robustness issues in double-integrator undirected rigid formation systems. Proc. of the 20th World Congress of the International Federation of Automatic Control (IFAC 2017), pp. 1360-1365, Toulouse, France, 2017. [PDF]

53. H. Garcia de Marina, Z. Sun, M. Cao, and B. D. O. Anderson. Controlling a triangular flexible formation of autonomous agents. Proc. of the 20th World Congress of the International Federation of Automatic Control (IFAC 2017),  pp. 596-602, Toulouse, France, 2017. [PDF]

54. Q. Liu, M. Ye, Z. Sun, J. Qin, and C. Yu.  Coverage control of unicycle agents under constant speed constraints. Proc. of the 20th World Congress of the International Federation of Automatic Control (IFAC 2017), pp. 2526-2531, Toulouse, France, 2017. [PDF]

55. Z. Sun, H. Garcia de Marina,  B. D. O. Anderson, and M. Cao. Quantization effects in rigid formation control. Proc. of the 6th Australian  Control Conference (AUCC'16), pp. 168-173, Newcastle, Australia, 2016. [PDF]

56. X. Zhang, Z. Sun, and C. Yu. Finite time synchronization of networked Kuramoto-like oscillators. Proc. of the 6th Australian Control Conference (AUCC'16), pp. 81-86, Newcastle, Australia, 2016. 

57. Z. Sun and B. D. O. Anderson. "Formation feasibility on coordination control of networked heterogeneous systems with drift terms". Proc. of the 55th IEEE Conference on Decision and Control (CDC'16), pp. 3462-3467, Las Vegas, USA, 2016 [PDF] (One-page abstract for the 2016 Benelux annual meeting is here [PDF])

58. C. Lageman, and Z. Sun. "Consensus on spheres: convergence analysis and perturbation theory". Proc. of the 55th IEEE Conference on Decision and Control (CDC'16), pp. 19-24, Las Vegas, USA, 2016 [PDF]

59. Z. Sun, N. Huang, B. D. O. Anderson, and Z. Duan. "A new distributed Zeno-free event-triggered algorithm for multi-agent consensus". Proc. of the 55th IEEE Conference on Decision and Control (CDC'16), pp. 3444-3449, Las Vegas, USA, 2016 [PDF]

60. M.-C. Park, Z. Sun, M.H. Trinh, B. D. O. Anderson, and H.-S. Ahn. "Distance-based control of K4 formation with almost global convergence". Proc. of the 55th IEEE Conference on Decision and Control (CDC'16), pp. 904-909, Las Vegas, USA, 2016. Also available at arXiv: http://arxiv.org/abs/1606.01638

61. M.H. Trinh, M.-C. Park, Z. Sun, B.D.O. Anderson, V. H. Pham, and H.-S. Ahn. "Further analysis on graph rigidity". Proc. of  the 55th IEEE Conference on Decision and Control (CDC'16), pp. 922-927, Las Vegas, USA, 2016. 

62. Z. Sun, U. Helmke and B.D.O. Anderson. "Rigid formation shape control in general dimensions: an invariance principle and open problems". Proc. of the 54th IEEE Conference on Decision and Control (CDC’15), pp. 6095-6100, Osaka, Japan, 2015  [PDF] (Best Student Paper Finalist)

63. Z. Sun and B.D.O. Anderson. "Rigid formation control systems modelled by double integrators: system dynamics and convergence analysis". Proc. of  the 2015 Australian Control Conference (AUCC’15), pp. 241-246, Gold Coast, Australia, 2015 [PDF] (Best Student Paper Winner)

64. Z. Sun, G. S. Seyboth and B.D.O. Anderson. "Collective control of multiple unicycle agents with non-identical constant speeds: Tracking control and performance limitation". Proc. of the 2015 IEEE Multi-Conference on Systems and Control (MSC’15), pp. 1361-1366, Sydney, Australia, 2015 [PDF]

65. Z. Sun and B.D.O. Anderson. "Rigid formation control with prescribed orientation". Proc. of  the 2015 IEEE Multi-Conference on Systems and Control (MSC’15), pp. 639-645, Sydney, Australia, 2015  [PDF]

66. Z. Sun, C. Yu and B.D.O. Anderson. "Distributed optimization on proximity network rigidity via robotic movements ". Proc. of the 34th Chinese Control Conference (CCC'15), pp. 6954-6960, Hangzhou, China, 2015  [PDF] Also available at arXiv preprint arXiv:1309.4850.

67. Q. Liu, Z. Sun, J. Qin and C. Yu. "Distance-based formation shape stabilisation via event-triggered control". Proc. of the 34th Chinese Control Conference (CCC'15), pp. 6948-6953, Hangzhou, China, 2015

68. Z. Sun, Q. Liu, C. Yu and B. D. O. Anderson, "Generalized controllers for rigid formation stabilization with application to event-based controller design". Proc. of the European Control Conference (ECC'15), pp. 217-222, Linz, Austria, 2015 [PDF]

69. B. Jiang, Z. Sun and B. D. O. Anderson, "Higher order Voronoi based mobile coverage control". Proc. of the American Control Conference (ACC'15), pp. 1457-1462, Chicago, USA. Also available at arXiv preprint arXiv: 1410.1941.

70. Z. Sun, S. Mou, U. Helmke, and B. D. O. Anderson, "Convergence Analysis for Rigid Formation Control with Unrealizable Shapes: The 3 Agent Case". Proc. of the 4th Australian Control Conference, Canberra (AUCC'14), Australia, pp. 1-6, 2014 (Best Student Paper Finalist)

71. M.-C. Park, Z. Sun, K.-K. Oh, B. D. O. Anderson, and H.-S. Ahn, "Finite-Time Convergence Control for Acyclic Persistent Formations". Proc. of the 2014 IEEE Multi-conference on Systems and Control (MSC'14), Nice/Antibes, France, pp. 1608-1613, 2014

72. M.-C. Park, Z. Sun, B. D. O. Anderson, and H.-S. Ahn, "Stability Analysis on Four Agent Tetrahedral Formations". Proc. of the 53rd IEEE Conference on Decision and Control, Los Angeles (CDC'14), pp. 631-636, 2014

73. U. Helmke, S. Mou, Z. Sun, and B. D. O. Anderson,  "Geometrical Methods for Mismatched Formation Control". Proc. of the 53rd IEEE Conference on Decision and Control, Los Angeles (CDC'14), USA, pp. 1341-1346, 2014

74. Z. Sun, S. Mou, B. D. O. Anderson, and A. S. Morse, "Formation movements in minimally rigid formation control with mismatched mutual distances". Proc. of the 53rd IEEE Conference on Decision and Control (CDC'14), Los Angeles, USA, pp.6161-6166, 2014

75. Z. Sun, S. Mou, M. Deghat, B. D. O. Anderson, and A. S. Morse,  "Finite Time Distance-based Rigid Formation Stabilization and Flocking". Proc. of the 19th IFAC World Congress (IFAC 2014), Cape Town, South Africa, pp. 9183-9189, 2014.

76. Z. Sun, S. Mou, B. D. O. Anderson, and A. S. Morse,  "Non-Robustness of Gradient Control of 3-D Formations with Distance Mismatch". Proc. of the 3rd Australian Control Conference (AUCC'13), Perth, Western Australia, pp.369-374, 2013.  [Link to IEEE]

77. X. Wu, Z. Sun*, F. Liang, and C. Yu, "Adaptive synchronization-based approach for real-time identification of coupling delays or node delays in dynamical complex networks". Proc. of the 10th IEEE International Conference on Control & Automation (ICCA'13), Hangzhou, China, pp. 777 – 782, 2013. [Link to IEEE]

78. Z. Sun and G. Si, "Identifying system parameters and network structures in uncertain fractional order complex networks". Presented at the Chinese Conference of Complex Networks (CCCN 2011), Chengdu, China, 2011.

Journal Papers

1. Z. Sun, M. Greiff, A. Robertsson, R. Johansson and B. D. O. Anderson. Cooperative constrained motion coordination of networked heterogeneous vehicles. Submitted to IEEE Transactions on Automatic Control (as a regular paper). Jan. 2022.  Available at arXiv: https://arxiv.org/abs/2201.06399. See the long version of the paper here and accompanying simulation videos here. 

2. D. Sui, M. Deghat, Z. Sun, M. Eskandari. Adaptive Bearing-Only Target Localization and Circumnavigation Under Unknown Wind Disturbance: Theory and Experiments. IEEE Robotics and Automation Letters. Oct. 2024.

3. Z. Zhang, Z. Sun, and S. Haesaert. Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion. IEEE Transactions on Intelligent Vehicles. May 2024

4. D. Sui, M. Deghat, Z. Sun, and M. Greiff. Unbiased Bearing-Only Localization and Circumnavigation of a Constant Velocity Target. IEEE Transactions on Intelligent Vehicles. Feb. 2024.

5. M. Li, Z. Sun, P.J.W. Koelewijn, and S. Weiland. A Tunable Universal Formula for Safety-Critical Control. Submitted.  Available preprint arXiv:2403.06285. 

6. Z. Liao, J. Shi, Y. Zhang, S. Wang, and Z. Sun. A Survey of Resilient Coordination for Cyber-Physical Systems Against Malicious Attacks. Available arXiv preprint arXiv:2402.10505. 

7. M. Li, Z. Sun, and S. Weiland. Unifying Controller Design for Stabilizing Nonlinear Systems with Norm-Bounded Control Inputs. Available arXiv preprint arXiv:2403.03030. 

8. M. Li, Z. Sun, and S. Weiland. Quadrotor Stabilization with Safety Guarantees: A Universal Formula Approach. Submitted to IEEE Transactions on Control Systems Technology. Feb. 2024. Available arXiv preprint arXiv:2401.03500. 

9. L. Walsh, M. Ye, B. D.O. Anderson, and Z. Sun. Decentralised adaptive-gain control for eliminating epidemic spreading on networks. Automatica. June 2023

10. T. Xu, Z. Sun, G. Wen, and Z. Duan. Data-driven Dynamic Event-triggered Control. IEEE Transactions on Automatic Control. May 2023.

11. N. Li, Z. Sun, J. M. A Scherpen, A. van der Schaft. A port-Hamiltonian framework for displacement-based and rigid formation tracking. Submitted to Automatica. April 2023. 

12. X. He, W. Yao, Z. Sun, and Z. Li. A Novel Vector-Field-Based Motion Planning for 3D Nonholonomic Robots. Automatica. Jan. 2023

13. B. Hu, H.-T. Zhang. W. Yao, Z. Sun and M. Cao. Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation. IEEE Transactions on Automatic Control . Dec. 2022

14. T. Xu, G. Wen, Z. Duan, and Z. Sun. A Novel Dynamic Event-triggered Mechanism for Dynamic Average Consensus.  Automatica. March 2024.

15. W. Yao, H. Garcia de Marina, Z. Sun, and M. Cao. Guiding vector fields for the distributed motion coordination of mobile robots. IEEE Transactions on Robotics (T-RO). Accepted for publication, October 2022. 

16. M. Li, T. L. Lam and Z. Sun. 3-D Inter-robot Relative Localization via Semidefinite Optimization. IEEE Robotics and Automation Letters (RA-L), July 2022. (Accepted)

17. H. Liu, Z. Chen, X. Wang, and Z. Sun. Optimal formation control for multiple rotation-translation coupled satellites using reinforcement learning. Accepted by Acta Astronautica. Sep. 2022. 

18. Y. Yu, X. Wang, Z. Sun, and L. Shen. Optimal control of nonlinear partially-unknown systems with unsymmetrical input constraints and its applications to the optimal UAV circumnavigation problem. IEEE Transactions on Systems, Man, and Cybernetics: Systems. Accepted and in press. November 2022, available at arXiv: 2005.13335 

19. L. Chen and Z. Sun. Elevation angle rigidity for gradient-based bearing-only formation control.  Accepted by Automatica. March 2022. 

20. T. Xu, Z. Duan, Z. Sun, and G. Chen. A Unified Control Method for Consensus with Various Quantizers.  Accepted by Automatica (as a regular paper). October 2021

21. S.-H. Kwon, Z. Sun, B. D. O. Anderson, and H.-S. Ahn. Sign Rigidity Theory and Application to Formation Specification Control. Accepted by Automatica (as a regular paper). Jan. 2022. 

22. Na Huang, D. Liu, Z. Sun, Z. Duan et al. Distributed consensus seeking with different convergence performance requirements: a unified control framework. Accepted by IEEE Transactions on Cybernetics. Jan 2022. 

23. L. Chen and Z. Sun. Globally Stabilizing Triangularly Angle Rigid Formations.  Accepted by IEEE Transactions on Automatic Control. Jan. 2022.

24. Q. V. Tran, Z. Sun, B. D. O.  Anderson, and H. S. Ahn. Distributed computation for graph matching. Accepted by IEEE Transactions on Cybernetics. pp. 1-11, Dec. 2020. 

25. T. Jouini, and Z. Sun.  Frequency synchronization of a high-order multi-converter system. Accepted by IEEE Transactions on Control of Network Systems. Sep. 2021. Also available at  arXiv: 2007.14064  

26. X. He, Z. Sun, A. Robertsson, and Z. Geng. Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space. Accepted by IEEE/CAA Journal of Automatica Sinica. August 2021. 

27. Z. Sun, A. Rantzer, Z. Li, and A. Robertsson. Distributed adaptive stabilization. Accepted by Automatica (as a regular paper). pp. 1-15, Feb. 2021

28. X. Peng, Z. Sun, M. Chen, and Z. Geng. Arbitrary Configuration Stabilization Control for Nonholonomic Vehicle with Input Saturation: a c-Nonholonomic Trajectory Approach. IEEE Transactions on Industrial Electronics. pp. 1-13, accepted and in press, February 2021.

29. M. Greiff, Z. Sun, and A. Robertsson.  Attitude Control on SU(2):  Stability, Robustness, and Similarities. IEEE Control Systems Letters(L-CSS). accepted and in press, Jan.  2020.

30. Y. Lin, Z. Lin, Z. Sun, and B. D. O. Anderson. A Unified Approach for Finite-Time Global Stabilization of Affine, Rigid and Translational Formation. IEEE Transactions on Automatic Control. Accepted as full paper. May 2021

31. Z. Sun, H. Garcia de Marina, B. D. O. Anderson, and C. Yu. Collaborative target-tracking control using multiple autonomous fixed-wing UAVs with constant speeds. AIAA Journal of Guidance, Control and Dynamics, pp. 1-30, accepted and in press. Sep. 2020. Also available at arXiv: 1810.00182

32. T. Jouini and Z. Sun. Performance analysis and optimization of stochastic heterogeneous power systems network with correlated noise. Accepted in IEEE Control Systems Letters (L-CSS). June 2020.

33. X. Li, Z. Sun, Y. Tang, and H. R. Karimi. Adaptive Event-Triggered Consensus of Multi-Agent Systems on Directed Graphs. Accepted by IEEE Transactions on Automatic Control, May 2020.

34. T. Xu, Z. Duan, Z. Sun and G. Chen. Distributed Fixed-Time Coordination Control for Networked Multiple Euler-Lagrange Systems. Accepted by IEEE Transactions on Cybernetics. Sep. 2020

35. X. Peng, Z. Sun, K. Guo, and Z. Geng. Mobile formation coordination and tracking control for multiple non-holonomic vehicles. Accepted by IEEE/ASME Transactions on Mechatronics. Jan. 2020.

36. Z. Sun, and C. Yu. Dimensional-invariance principles in coupled dynamical systems: A unified analysis and applications. IEEE Transactions on Automatic Control, accepted and in press, November 2018. [PDF] Also available at arXiv: 1703.07955 

37. N. Huang, Z. Sun, B. D. O. Anderson and Z. Duan. Distributed and adaptive triggering control for networked agents with linear dynamics.  Accepted by Information Sciences, Dec. 2019. 

38. Z. Sun, and T. Sugie. Identification of Hessian matrix in distributed gradient-based multi-agent coordination control systems. Numerical Algebra, Control and Optimization (NACO), vol. 9, No. 3, pp: 297-318, 2019. Available at arXiv:1805.02832  [PDF]. Note: Special Issue at NACO dedicated to Professor Brian D. O. Anderson.

39. Z. Sun, Q. Liu, N. Huang, C. Yu, and B. D. O. Anderson. Cooperative event-based rigid formation control. Accepted in IEEE Transactions on Systems, Man, and Cybernetics: Systems, Sep. 2019. Also available at arXiv: 1901.03656.

40. T. Xu, Z. Duan, and Z. Sun. Event-Based Distributed Robust Synchronization Control for Multiple Euler-Lagrange Systems Without Relative Velocity Measurements. International Journal of Robust and Nonlinear Control. Accepted and in press. April 2019.

41. L. Wang, Z. Sun and Y. Cao. Adaptive synchronization of complex networks with general distributed update laws for coupling weights. Journal of the Franklin Institute. Accepted and in press. June 2019. 

42. B. Jiang, Z. Sun, B. D. O. Anderson, and C. Lageman. Higher order mobile coverage control with application to clustering of discrete sets. Automatica. accepted and in press, December 2018. [ArXiv Link for full version]

43. R. Suttner and Z. Sun. Formation Shape Control Based on Distance Measurements Using Lie Bracket Approximations. Accepted by SIAM Journal on Control and Optimization, Sep. 2018. Available at arXiv: 1803.01606

44. Z. Sun, N. Huang, B. D. O. Anderson and Z. Duan. Event-based multi-agent consensus control: Zeno-free triggering via L^p signals. IEEE Transactions on Cybernetics, accepted and in press, August 2018. 

45. Q. Yang, Z. Sun, M. Cao, H. Fang, J. Chen. Stress-matrix-based formation scaling control. Automatica, accepted and in press, October 2018.

46. M. H. Trinh, S. Zhao, Z. Sun, D. Zelazo, B. D. O. Anderson, and H.-S. Ahn. Bearing-based formation control of a group of agents with leader-first follower structure. IEEE Transactions on Automatic Control, accepted for publication as a full paper, March 2018. DOI: 10.1109/TAC.2018.2836022

47. Z. Sun, H. Garcia de Marina, G. S. Seyboth, B. D. O. Anderson, and C. Yu. Circular formation control of multiple unicycle-type agents with non-identical constant speeds. IEEE Transactions on Control Systems Technology, accepted and in press, August 2017.  DOI: 10.1109/TCST.2017.2763938  [PDF]

48. E. Du, X. Cai, Z. Sun, and B. Minsker. Exploring the role of social media and individual behaviors in flood evacuation processes: An agent-based modeling approach. Water Resources Research, vol. 53, No. 11, pp. 9164–9180, 2017. [PDF]

49. M.-C. Park, Z. Sun, B. D. O. Anderson, and H.-S. Ahn. Distance-based Control of Kn Formation in General Space with Almost Global Convergence. IEEE Transactions on Automatic Control, vol. 63, No. 8, pp. 2678-2685, 2018 [PDF]

50. B. D. O. Anderson, Z. Sun, T. Sugie, S.  Azuma, and K. Sakurama. Formation shape control with distance and area constraints. IFAC Journal of Systems and Control,  vol. 1, No. 1, pp.2-12, 2017. [PDF]  [Link to Elsevier]

51. S. Zhao, D. V. Dimarogonas, Z. Sun and D. Bauso. A General Approach to Coordination Control of Mobile Agents with Motion Constraints. IEEE Transactions on Automatic Control, vol. 63, no. 5, pp. 1509-1516, 2018 

52. Z. Sun, S. Mou,  B. D. O. Anderson, and C. Yu. Conservation and decay laws in distributed coordination control systems. Automatica, vol. 87, no. 87, pp. 1-7, 2018.

53. Z. Sun, N. Huang, B. D. O. Anderson, and Z. Duan. Comments on 'Distributed event-triggered control of multi-agent systems with combinational measurements'. Automatica, vol. 92,  No. 6, pp. 264-265, 2018.  [PDF]

54. Z. Sun, H. Garcia de Marina,  B. D. O. Anderson, and M. Cao. Quantization effects and convergence properties on rigid formation control systems with quantized distance measurements. International Journal of Robust and Nonlinear Control, vol. 28, No. 16, pp. 4865-4884, 2018

55. Z. Sun, M.-C. Park, B.D.O. Anderson, and H.-S. Ahn. "Distributed stabilization control of rigid formations with prescribed orientation". Automatica, vol. 78,  No. 4, pp.250-257, 2017. [PDF] 

56. M. H. Trihn, V. H. Pham, M.-C. Park, Z. Sun, B. D. O. Anderson, and H.-S. Ahn. Comments on "Global stabilization of rigid formations in the plane". Automatica, vol. 77, No. 3, pp.393-396, 2017. [Link to Elsevier]

57. Z. Sun, B.D.O. Anderson, M. Deghat, and H.-S. Ahn. "Rigid formation control of double-integrator systems". International Journal of Control, vol. 90, no. 7, pp. 1403-1419, 2017. [PDF]

58. Z. Sun, S. Mou, B.D.O. Anderson, and M. Cao. "Exponential stability for formation control systems with generalized controllers: a unified approach". Systems and Control Letters. vol. 93, pp. 50-57, 2016. [PDF]  [Link to Elsevier] 

59. Z. Sun, S. Mou, B. D. O. Anderson, and A. S. Morse. "Rigid Motions of 3-D Undirected Formations with Mismatch between Desired Distances". IEEE Transactions on Automatic Control,  vol. 62, no. 8, pp. 4151 - 4158, 2017. [PDF]

60. Z. Sun, S. Mou, M. Deghat, and B. D. O. Anderson. "Finite time distributed distance-constrained shape stabilization and flocking control for d-dimensional undirected rigid formations". International Journal of Robust and Nonlinear Control, 26 (13), 2824–2844.  [PDF] [Link to Wiley]

61. S. Mou, A. S. Morse, M. A. Belabbas, Z. Sun, B.D.O. Anderson. "Undirected Rigid Formations are Problematic". IEEE Transactions on Automatic Control, 61(10), pp.2821-2836, 2016. [Link to IEEE]  [ArXiv Link]

62. X. Wu, Z. Sun*, F. Liang, and C. Yu, "Online estimation of unknown delays and parameters in uncertain time delayed dynamical complex networks via adaptive observer," Nonlinear Dynamics, 73,(3), pp.1753-1768, 2013. [Link to Springer] 

63. G. Si, Z. Sun*, Y. Zhang, and W. Chen, "Projective synchronization of different fractional-order chaotic systems with non-identical orders," Nonlinear Anal. Real World Appl., vol. 13, pp. 1761-1771, 2012. [Link to Elsevier]

64. Z. Sun, W. Zhu, G. Si, Y. Ge, and Y. Zhang, "Adaptive synchronization design for uncertain chaotic systems in the presence of unknown system parameters: a revisit,"  Nonlinear Dynamics, 72(4), pp 729-749, 2013. [Link to Springer]

65. G. Si, Z. Sun*, H. Zhang, and Y. Zhang, "Parameter estimation and topology identification of uncertain fractional order complex networks," Commun. Nonlinear Sci. Numer. Simul., vol. 17, pp. 5158-5171, 2012. [Link to Elsevier]

66. Z. Sun, G. Si, F. Min, and Y. Zhang, "Adaptive modified function projective synchronization and parameter identification of uncertain hyperchaotic (chaotic) systems with identical or non-identical structures," Nonlinear Dynamics, vol. 68, pp. 471-486, 2012.  [Link to Springer]

PhD Thesis  

• Z. Sun, Cooperative Coordination and Formation Control for Multi-agent Systems, The Australian National University, Feb. 2017.

• Supervisor: Prof. Brian D. O. Anderson.  [Link for PDF],   [Link to ANU Library version]. 

• Examiners: Prof. Mark W. Spong (University of Texas at Dallas), Prof. Shinji Hara (University of Tokyo), and Prof. Jacquelien Scherpen (University of Groningen).