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In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots...
In this paper, we propose an output maneuvering nonlinear controller for the car-like mobile robot. The control approach is based on a combination of the input-output feedback linearization control technique and the output maneuvering control approach introduced in [1]. It is shown that the closed-loop system is asymptotically stable and the path following error converges asymptotically to zero when...
This work presents the synchronization control of two magnetic levitation systems powered by alternating current and where the technology on which this platform is based is the effect of repulsion that is presented in a pair of windings (coil-ring). The prototype considered in this work includes the use of two Thomson's rings in which the magnetic field generated by the coil (primary winding) causes...
When dealing with biped robots it is common to consider a set of specific assumptions in order to analyze the complete walking cycle. Among other assumptions, the non-slipping condition is a very common working hypothesis. This fact implies that the contact point between the supporting leg and the walking surface does not have a relative displacement along the walking axis. Although, in some practical...
This paper consider the remote control of an unicycle mobile robot subject to transport delay. The communication delay effects are considered by means of a discrete time approach that allows to solve the path tracking problem in terms of the delayed input. The causality problem involved in the proposed solution is carried out by considering an extension to the nonlinear case of the well known Smith...
Varying time delays prevent successful operation of control loops closed over communication networks, i.e. networked control system (NCS). To mitigate the negative effects of delays, existing research mainly focuses on deriving control approaches/solutions built upon the assumption that the operation of control loops is synchronized at the sampling instants. In this paper we propose an approach to...
In the present paper we deal with the approximate disturbance decoupling problem with measurement (DDPM) for a class of nonlinear systems with a simple time delay at the input. The analysis is based on a standard singularly perturbed form free of delay which is an approximation of the original system.
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