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Formation Control for Multi–Vehicle System using Adaptive Control Method
Kazuya Sato,Toru Saito,Nobuhisa Maeda 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, an adaptive control method for formation control problem is considered. We assume that there existan uncertainty in the information exchange between anagent and all of its neighbors on the network. We regard that the uncertainty in the information exchange can be described by the perturbation of the elements of adjacent matrix. Our proposed method can estimate the perturbation of the elements in the notion of adaptive control strategy. Numerical simulation results are given to illustrate the effectiveness of our proposed method.