Abstract
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 © 2016 John Wiley & Sons, Ltd.
| Original language | English |
|---|---|
| Pages (from-to) | 3344-3362 |
| Number of pages | 19 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 26 |
| Issue number | 15 |
| Early online date | 15 Jan 2016 |
| DOIs | |
| Publication status | Published - 1 Oct 2016 |
| Externally published | Yes |
Keywords
- design
- disturbance rejection
- formation control
- internal-model-based approach
- mobile robots
- nonholonomic systems
- passivity
- port-Hamiltonian systems
- stabilization