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This paper proposes an adaptive observer for an active leader and designed a distributed observer‐based control law for the formation control of networked uncertain offshore vessels under the switching topologies. The design of the observer, only depending on the output of the leader system, is featured with the ability of accurately estimating the output of the leader system with an unknown input...
This paper proposes a distributed strategy to solve the leader-following formation problem for multiple under-actuated unicycles. Our distributed control law, dependent on the relative information of its nearest neighbor and itself, can not only enable a network of autonomous mobile agents to circulate around a target of interest, but also achieve any physically feasible formation.
This paper studies formation control of a group of unicycles, and proposes a distributed control law, depending only on the relative position and bearing angle of one nearby vehicle, to realize the circular formation and render more achievable general formations by designing the parameters in the control law. For circular formation, not only we can strictly prove that only two sets of equilibria are...
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