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This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment...
This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The...
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...
This paper concerns the experimental evaluation of a PID mixed H2/H∞ control methodology based on the application of genetic algorithms. The considered plant is an experimental DC servosystem affected by disturbances acting on its output, and the performance objective corresponds to the control of the load angular position.
Robustness and preservation of stability and synchronization in the presence of structural changes is an important issue in the study of chaotic dynamical systems. In this work we present a methodology to establish conditions for preservation of stability in dynamical system in terms of linear matrix polynomial evaluation. The idea is to construct a group of dynamical transformations under which stability...
Classic results of the dynamical systems theory are extended and used to study the preservation of synchronization in chaotical dynamical systems. This results show that synchronization can be preserved after changes are made to the linear part of the dynamical system. When the Jacobian matrix of the system is evaluated in the hyperbolic points, the sign structure of the eigenvalues of this matrix...
This work considers the stabilization problem for unstable linear input-delay systems. The main idea of the paper is to use a finite-dimensional approximation for the delay operator, which is based on non-overlapping partitions of the time delay. Subsequently, each individual delay is approximated by means of a classical Pade approximation, resulting the overall approximation in a high-order Pade...
This paper features the innovative use of pneumatic tension actuators in combination with conventional compression air-springs to separate and independently control both the load-levelling function and the effective stiffness or spring-rate characteristic. As the air-supply to the actuators is actively manipulated and controllable to frequencies above the dominant vibration modes of the structure,...
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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