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A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. The coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume the existence of direct communication channel...
We address the problem of designing decentralized laws to control a team of general fully actuated manipulators which synchronize their movements while following the same desired trajectory. To this effect we investigate an adaptive control of an identical multiple manipulators, with unknown inertia parameters, tracking a common trajectory. It is also assumed that all the robots in the synchronization...
This paper addresses the problem of coordinated path following whereby multiple underactuated marine crafts are required to follow a prescribed paths while keeping a desired inter-vehicle formation pattern. We show how Lyapunov- based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed...
In this paper, we consider formation control of fully- actuated marine craft systems with motion in three degrees of freedom (3-DOF). In particular, we consider the case where n independent vehicles are expected to satisfy a given formation pattern and where the formation as a whole is expected to track a smooth reference trajectory. To this end, we propose decentralized control laws for each vehicle...
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