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This paper addresses the adaptive synchronization problem of networked mechanical systems in task space with time-varying communication delays, where both kinematic and dynamic uncertainties are considered and the information flow in the networks is represented by a directed graph. Based on a novel coordination auxiliary system, we first extend existing feedback architecture to achieve synchronization...
In this paper, multi-vehicle formation control with collision avoidance based on model predictive control (MPC) is proposed. Since there exist the uncertainty arise from the localization in the real environments, it is difficult to guarantee collision avoidance among vehicles by the standard MPC based methods. Furthermore, since MPC based methods can only consider collision avoidance at discrete time...
In this paper, operator based nonlinear control system design is studied by using robust right coprime factorization. Proposed control system does not guarantee perfect tracking, but upper bound of tracking error is estimated and a condition for the controller to reduce the error within an arbitrarily small bound is derived based on the generalized H. S. Black formula. A control system for a nonlinear...
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