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In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in...
In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using the characteristics of backlash-like hysteresis, adaptive dynamic surface control (DSC) is developed without constructing a hysteresis inverse. The explosion of complexity in traditional backstepping design is avoided by utilizing DSC. Function uncertainties...
In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories...
In this paper, adaptive neural control is investigated for a class of unknown nonlinear systems in pure-feedback form with the generalized Prandtl-Ishlinskii hysteresis input. To deal with the nonaffine problem in face of the nonsmooth characteristics of hysteresis, the mean-value theorem is applied successively, first to the functions in the pure-feedback plant, and then to the hysteresis input function...
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