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In this article we consider a class of multi-agent dynamic systems with uncertainties and the problem of moving in a predefined formation along a reference trajectory. The reference trajectory is generated by switched exosystems each of which are neutrally stable and have unknown parameters. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal model based controller...
In this article we consider the problem of moving in a predefined formation along a reference trajectory in the presence of disturbances in a class of multi-agent systems. The reference trajectory is generated by a neutrally stable exosystem with unknown parameters. The problem is formulated as nonlinear servomechanism problem and an adaptive internal model based controller is used to solve this problem...
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