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In t his paper, we present practical experimental results to demonstrate a control law for consensus of multiagent systems with switching topologies and time delays. The nonlinear control law utilizes nonlinear cooperative control gains and uses contraction mapping to achieve consensus of multiagent systems. The testing platform we used consists of a number of mobile robots. We present the effectiveness...
In this paper, we propose a new decentralized control for heavy haul trains by explicitly considering input constraints and time varying communication time delays. Through introducing a set of state and input transformations, the complicated longitudinal dynamical model of the heavy haul train is first converted into the double integrator form for ease of control design. Then, a decentralized cooperative...
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