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A wire-moving robot which can keep self-balancing through the control of balancing pole is analyzed in this paper. After kinematic and energy analysis, the nonlinear dynamic model is presented based on Routh method. To achieve the goal of self-balancing, a kind of cascade sliding mode controller is designed. The stability of the system is proved based on Lyapunov theorem. The computer simulation is...
This paper presents algorithms for role assignment and formation control in multi-robot systems. Two circumstances have been discussed. One is with fixed target formation positions, and the other is without fixed target formation positions. For the former circumstance, a modified Hungarian algorithm has been proposed to assign a role for each robot with the purpose of consuming less time to form the...
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