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This paper mainly provides and develops a new continuous-discrete PSO algorithm for handling with the optimal formation problem in the three dimensional space. For one class of formation problem with the particular constraints, it is shown that the center of the desired shape is determined and equal to the center of the initial shape by utilizing the Lagrangian method. From the perspective of efficiency,...
Stochastic adaptive control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. Aiming at shaping the controlled manipulators dynamics to be of minimized motion tracking errors and joint accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive neural network (NN) control...
In the past decade, cooperation of swarm of mobile robots has been extensively studied for its high error tolerance, efficiency, scalar extendibility and wide applications in various services and surveillances. Among most of these applications, the robots are required to formate into certain shape or positions so as to accomplish tasks with satisfied overall performance, hence multi-robot formation...
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