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- W3217164067 abstract "AbstractThis paper presents the control design for a multi-agent system (MAS) of land-based mobile robots on wheels formation, that also implements a PI control for the fastest with no-overshoot response at each agent’s velocity. Regarding the robot formation tracking control design, a mathematical model constructed from a geometric approach is applied. In addition, the formation’s asymptotic stability is guaranteed in the light of Lyapunov’s theory. When discussing the agents’ velocity control, the mentioned Proportional-Integral PI algorithm is designed by using different methodologies which include (sigma )-stability, (lambda ) tuning, and Haalman’s tuning techniques. Finally, the theoretical results are confirmed by simulations." @default.
- W3217164067 created "2021-12-06" @default.
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- W3217164067 date "2021-11-21" @default.
- W3217164067 modified "2023-10-16" @default.
- W3217164067 title "Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation" @default.
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- W3217164067 doi "https://doi.org/10.1007/978-3-030-90033-5_9" @default.
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