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This paper addresses the problem of distributed motion control of highly structured formations of nonholonomic multi-agent robotic systems. For concentrating on the multi-agent formation problem, a local stable feedback control laws based on relative distance and angular and bearing measurements are used. There are topological obstructions to globally stable system operation for such laws, but by...
This paper presents a smooth sliding mode control approach for the motion control of a Stewart platform. The control scheme is proposed given that the overall system parameters are subject to uncertainties while only the positions and velocities of links are measurable. To achieve high performance tracking control of a 6 DOF Stewart platform normally requires the full knowledge of the system dynamics...
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