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A new control algorithm based on potential function and behavior rules to effectively control the formation of a multiple autonomous underwater vehicle (AUV) system under uncertain environment and to make the formation effectively avoid obstacles is presented. Proper potential functions concerning with object, obstacle and the structure of the formation is chosen to design a new distributed control...
A formation path tracking controller for multiple robot system by sliding mode control method is introduced. The dynamic equation of robot is transformed into a relative moving equation between the leader robot and the follower robot and the drawback of structural singularity in the robot with nonholonomic constraints is overcome. The sliding mode control method is applied in the multiple robot system...
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