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A controller is developed for a three degrees-of-freedom surface marine craft where both the rigid body and hydrodynamic parameters are unknown. A Lyapunov-based analysis is presented to show the closed loop system is globally exponentially stable and the uncertain parameters are identified exponentially without the requirement of persistence of excitation. Simulation results are provided to validate...
A decentralized event-triggered control scheme is developed for the containment control problem. An estimate-based decentralized controller is designed for each agent so that it is only required to communicate with neighboring agents at discrete event times. These events are determined by a decentralized trigger function that only requires local information. Different from conventional strategies,...
This paper investigates the synchronization of a network of Euler-Lagrange systems with leader tracking. The Euler-Lagrange systems are heterogeneous and uncertain and contain bounded, exogenous disturbances. The network leader has a time-varying trajectory which is known to only a subset of the follower agents. A robust integral sign of the error-based decentralized control law is developed to yield...
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