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This article investigates the hierarchical bipartite formation tracking (HBFT) problem of the networked perturbed robotic system (NPRS) with dynamical uncertainties, actuator faults and nonlinear state‐to‐output mappings. Different from the traditional single‐layer formation tracking problems based on only cooperative interconnections, solving the HBFT problem implies that (a) the robots of the NPRS...
In this paper, we present a performance study of a five-axis iterative learning control program. Several approaches are proposed to enhance the performance. Eliminating redundant computation, parallelizing programs using OpenMP, and loop-invariant code motion are used to enhance the performance. For a single learning iteration with 5021 positions and using compiler option "-O2", the experimental...
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