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To improve the reliability of a system, the concept of redundancy is practiced, which can also be applied to robots. Therefore, this paper presents stability analysis of a system containing two redundant robots and one safety unit. 2 FORMULATION OF MODEL ∞ x ∈[ 0,∞ ) 0 ∫0 μi (τ )dτ = ∞, for i = 4,5. Pi ( x,t ) —probability that at time t, the system is in state i and the elapsed repair time lies in the interval [ , x + Δx ], for i = 4, 5. e. without considering the repair process) starts operating at time t = 0 and it may be degraded either due to a failure of a robot or the system.

KSAS International Journal. November 2008. [8] Zhang. yanjiao, Yang Ying Zhao Yu and Wen Guanghui 2012, Finite time consensus tracking for nonlinear multi agent systems undirected and directed communication topologies. Proceedig of the 31st Chinese Control Conference Hafei, China: 6214–6219. [9] Fahimi, F. 2008, ‘Full formation control for autonomous helicopter groups’, Robotica: 143–156. [10] Jia-Jun Wang 2012, Stabilization and tracking control of X–Z inverted pendulum with slidingmode control.

Kim, Robust backstepping control for slew maneuver using nonlinear tracking function. IEEE Transactions on Control Systems Technology. 11 (2003) 822–829. [3] RongXu and Umit Ozguner, Sliding Mode Control of a Quadrotor Helicopter. [4] Proceedings of the 45th IEEE Conference on Decision and Control, CA, USA December 13–15. 2006. [5] Yinqiu Wang, Qinghe Wu and Yao Wang 2012, Containment Control for Multiple Quadrotors with Stationary Leaders under Directed Graphs. 51st IEEE Conference on Decision and Control.

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