We address the problem of tracking control of multiple mobile robots advancing in formation
along straight-line paths. We use a leader-follower approach, and hence, we assume that …

We solve the leaderless consensus-formation control problem for nonholonomic robots
under the influence of time-varying communication delays and via smooth feedback. The …

The persistency of excitation property is crucial for the stability analysis of parameter
identification algorithms and adaptive control loops. We propose a relaxed definition of …

Some classical results known in the adaptive control literature are often used as analysis
tools for nonlinear systems by evaluating the nonlinear differential equations along …

A new infinitesimal sufficient condition is given for uniform global asymptotic stability (UGAS)
for time-varying nonlinear systems. It is used to show that a certain relaxed persistency of …

The subject of this thesis is the design of tracking controllers for certain classes of
mechanical systems. The thesis consists of two parts. In the first part an accurate …

This letter presents a smooth time-varying-persistently exciting controller for full consensus
of autonomous nonholonomic vehicles modeled as unicycles. This consists in the robots …

We present integral characterizations of uniform asymptotic stability and uniform exponential
stability for differential equations and inclusions. These characterizations are used to …

It is known that nonholonomic systems on the plane cannot be stabilized on arbitrary
leader's trajectories with piecewise continuous velocities via continuous controllers, even …

In this article, we propose a solution to the full-consensus-based formation problem for
torque-controlled nonholonomic mobile robots under time-varying communication delays …