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We define a leader-follower flocking system in which a few members are group leaders who have global trajectory knowledge, while majority members are group followers who can communicate with neighbors, but do not have global trajectory information. The followers even do not know who are the leaders in the group. All group members estimate the position of flocking center by using a consensus algorithm...
In this paper, we consider a feedforward neural network for the control of a class of multi-input, multi-output nonlinear systems. While feedforward neural networks offer a simple and appealing approach to enhance the trajectory tracking performance of the closed loop system, stability analysis is often more difficult than the conventional implementation of a neural network embedded within the feedback...
In a recent paper we presented the first adaptive control design for an ODE system with a possibly large actuator delay of unknown length. We achieved global stability under full state feedback. In this paper we generalize the design to the situation where, besides the unknown delay value, the ODE also has unknown parameters, and where trajectory tracking (rather than equilibrium regulation) is pursued.
Motion control systems have found their application in various industry products. Common issues encountered when designing this type of systems are nonlinearities and uncertainties (e.g., unknown parameters, unmodeled dynamics, and disturbances). In this paper, we study controller design for a class of motion systems with rotary components. The systems are assumed to have unknown parameters which...
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