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This paper studies task-space formation tracking problem of nonlinear heterogeneous robotic systems involving external disturbances, kinematic and dynamic uncertainties, where the cases with both single and multiple time-varying leaders are considered. To solve the aforementioned nonlinear control problem, several novel fully distributed control algorithms, in which no global information is employed,...
This paper investigates the task-space tracking control problem for multi-robot systems in the presence of uncertain kinematics and dynamics. Two classes of control schemes are developed to address the aforementioned problem with nonredundant and redundant kinematics and input disturbances. Particularly, the property of separating of kinematic and dynamic loops is obtained by the proposed controllers,...
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