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This paper explores a variation of distance-based formation control for the case of holonomic robots moving in 3D space modeled as double-integrators with any rigid undirected communication graph. Adaptive control techniques are used with a combined distance-based attractive-repulsive potential field to avoid possible inter-robot collisions. In order to prevent unwanted formation patterns verifying...
In this work, the LV-control problem in binary distillation columns is addressed. With least prior knowledge, a linear reference model with unknown terms is obtained. The time variations of the unknown terms are estimated using two on-line trained perceptrons. These estimates are subsequently used to design a feedback linearizing-like controller. The closed-loop behavior is analyzed through numerical...
In this paper, a linearization feedback adaptive control structure is described. This structure yields high quality regulation of the output error in the face of uncertainties and external disturbances. The overall control system consists of three elements-a nominal input-output linearization compensator, a state observer and an uncertainty estimator-which provides the adaptive part of the control...
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