In this article we consider the formation control problem of a system of M agents with general nonlinear dynamics. We show that the problem of the agents moving in a formation along constant or periodic trajectories can be formulated as a nonlinear output regulation (servomechanism) problem and solved using known techniques. Then, we consider the example of formation control of agents with poin...

An adaptive servomechanism is developed in the context of the problem of approximate or practical tracking (with prescribed asymptotic accuracy), by the system output, of any admissible reference signal (absolutely continuous and bounded with essentially bounded derivative) for every member of a class of controlled dynamical systems modelled by functional differential equations.

Electric motors with metal graphite brushes experience a change in contact resistance depending on current load. This varying resistance leads to varying gain in the motor, since the proportion of power dissipated due to the resistance changes. This investigation is concerned with a servomechanism, which uses such motors for position and force control. Force control with electric motors is typi...

This paper considers the robust servomechanism design for a polytopic uncertain system subject to a previewable reference signal. Based on the robust mixed LQ/H= criterion, we develop a design method of a state feedback controller with integral and preview actions achieving the robust tracking performance in terms of linear matrix inequalities. A numerical example is also included to show the a...