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This paper presents a framework for controlling groups of autonomous mobile robots to achieve predetermined formations based on leader-following approach. A three-level hybrid control architecture is proposed to implement both centralized and decentralized cooperative control. Under such architecture, we decompose the global-level formation control problem(More)
— An iterative approach is proposed to model networked control systems (NCSs) with arbitrary but finite data packet dropout as switched linear systems. This enables us to apply the rich theory of switched systems to analyzing such NCSs. Sufficient conditions are presented on the stability and stabilization of NCSs with packet dropout and network delays.(More)
— This paper investigates the consensus problems for networks of dynamic agents. The agent dynamics is adopted as a typical point mass model based on the Newton's law. The average-consensus problem is proposed for such class of networks, which includes two aspects, the agreement of the states of the agents, and the convergence to zero of the speeds of the(More)
The aim of the present study is to investigate the locomotion control of a robotic fish. To achieve this goal, we design a control architecture based on a novel central pattern generator (CPG) and implement it as a system of coupled linear oscillators. This design differs significantly from the usual CPG models in which nonlinear oscillators are commonly(More)