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In this paper, a robust adaptive formation control law is proposed for multiple autonomous surface vehicles moving in a leader-follower formation. The presented method uses only measurements of line-of-sight range and angle by local sensors, no other information about leader is required for control implementation. Neural networks are trained online to compensate for uncertainties due to unknown velocity...
An adaptive neural network control (ANNC) is proposed for a class of strict-feedback uncertain nonlinear systems with unknown system nonlinearities and unknown virtual control gain nonlinearities. Combining the dynamic surface control (DSC) technique with minimal-learning-parameters (MLP) algorithm, a systematic procedure for synthesis of ANNC is developed based on the universal approximation of neural...
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