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In this paper, we present a formation control strategy for a group of agents modeled as Euler-Lagrange systems. The formation is achieved by means of a desired kinematic model generated by artificial potentials. The system uncertainties are compensated by binary adaptive control which combines the good transient properties and robustness of Sliding Mode(More)
In this paper, we present two globally convergent vision-based position controllers for a planar two-links manipulator in the so-called fixed-camera configuration, where the camera orientation and scale factor are considered unknown. This is a basic adaptive visual servoing problem whose solution was hampered by the nonlinear dependence of the system(More)
We show in this paper that it is possible to globally adaptively stabilize linear multivariable systems with reduced prior knowledge of the high-frequency gain. In particular, we relax the restrictive (nongeneric) symmetry condition usually required to solve this problem. Instrumental for the establishment of our result is the use of the new immersion and(More)
In this paper we address, and solve, a basic adaptive visual servoing problem whose solution was hampered by the nonlinear dependence of the system dynamics on the unknown parameters. Namely, we present a globally convergent vision{based position controller for a planar two-links manipulator in the so-called xedcamera con guration, where the camera(More)