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We address the problem of tracking control of multiple mobile robots advancing in formation along straight-line paths. We use a leader–follower approach, and hence, we assume that only one swarm leader robot has the information of the reference trajectory. Then, each robot receives information from one intermediary leader only. Therefore, the communications graph forms a simple spanning directed tree...
This paper is devoted to the Lyapunov - type stability analysis for a class of dynamic systems in the presence of a specific time - driven switchings mechanism. We consider dynamic stability problem for the whole set of implicit global representations associated with a class of linear switched systems. The resulting closed - loop dynamic model is determined by a PD - like state feedback control. For...
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