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Group Coordination and Cooperative Control of Steered Particles in the Plane, model of identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles about the same center with fixed relative headings.

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Coordinating Control for a Fleet of Underactuated Ships,om and 2 control inputs, which are the propeller thrust and the angle of the rudder; presence of lumped environmental forces is assumed. The proposed motion planning procedure relies on properties of an auxiliary explicitly constructed second order dynamical system. We propose a procedure for motion

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Decentralized Adaptation in Interconnected Uncertain Systems with Nonlinear Parametrization,require Lyapunov stability of the target dynamics and allows nonlinearly parameterized uncertainties. We show that for the considered class of systems, conditions for reaching the control goals can be formulated in terms of the nonlinear .-gains of target dynamics of each interconnected subsystem. E

ADORN

BOOR

Design of Convergent Switched Systems,ng rules. We illustrate our approach to this problem by means of two examples: the anti-windup design for a marginally stable system with input saturation, and the design of a switching rule for a piece-wise affine system operating in different modes.

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