Disturbance rejection in formation keeping control of nonholonomic wheeled robots

Matin Jafarian, Ewoud Vos, Claudio De Persis, Jacquelien M. A. Scherpen, Arjan J. van der Schaft

Research output: Contribution to journalArticleAcademicpeer-review


This paper presents the results of formation keeping control of a group of nonholonomic wheeled robots within the port-Hamiltonian framework and in the presence of matched input disturbances. Two scenarios on the internal damping of the dynamics of the robots are considered: strictly output passive and loss less robots. For strictly output passive robots, the distributed formation keeping controllers drive the robots towards a desired formation, while internal-model-based controllers locally compensate the harmonic input disturbance for each of the robots. Moreover, the effect of constant input disturbances is studied considering internal-model-based controllers. For lossless robots, results on formation keeping control are presented. Simulation results illustrate the effectiveness of the approach. Copyright (c) 2016 John Wiley & Sons, Ltd.
Original languageEnglish
Pages (from-to)3344-3362
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Issue number15
Early online date15 Jan 2016
Publication statusPublished - 1 Oct 2016
Externally publishedYes


  • formation control
  • passivity
  • nonholonomic systems
  • port-Hamiltonian systems
  • disturbance rejection
  • internal-model-based approach
  • mobile robots
  • stabilization
  • design


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