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In this paper, we address the problem of cooperation and collision avoidance for multiple surface vessels with disturbances. The surface vessels are regarded as elliptical agents with nonlinear dynamics. We design control laws that guarantee cooperation as well as collision-free maneuvers. We show, using a two-step proof, that the avoidance part of the control laws guarantees safety of the agents...
The stability of discrete time systems with single and double state-delay was analyzed in this paper. Lyapunov function was constructed to get the system's stability, where the LMI (Linear Matrix Inequation) was applied to simplify Lyapunov function. And the conclusion was finally extended to the discrete time systems with multiple state time-delay.
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