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

doi:10.1002/rnc.3510

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

University of Groningen, Engineering and Technology Institute (ENTEG)
Johann Bernoulli Institute for Mathematics and Computer Science, Faculty of Science and Engineering (FSE), University of Groningen

Research output: Contribution to journal › Article › Academic › peer-review

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	https://doi.org/10.1002/rnc.3510
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

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10.1002/rnc.3510

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title = "Disturbance rejection in formation keeping control of nonholonomic wheeled robots",

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 {\textcopyright} 2016 John Wiley \& Sons, Ltd.",

keywords = "design, disturbance rejection, formation control, internal-model-based approach, mobile robots, nonholonomic systems, passivity, port-Hamiltonian systems, stabilization, formatie controle, mobiele robots, niet-holonomische systemen, ontwerp, op interne modellen gebaseerde benadering, passiviteit, port-Hamiltoniaanse systemen, stabilisatie, verstoringsafwijzing",

author = "Matin Jafarian and Ewoud Vos and \{De Persis\}, Claudio and Scherpen, \{Jacquelien M. A.\} and \{van der Schaft\}, \{Arjan J.\}",

year = "2016",

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doi = "10.1002/rnc.3510",

language = "English",

volume = "26",

pages = "3344--3362",

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AU - Jafarian, Matin

AU - Vos, Ewoud

AU - De Persis, Claudio

AU - Scherpen, Jacquelien M. A.

AU - van der Schaft, Arjan J.

PY - 2016/10/1

Y1 - 2016/10/1

N2 - 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.

AB - 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.

KW - design

KW - disturbance rejection

KW - formation control

KW - internal-model-based approach

KW - mobile robots

KW - nonholonomic systems

KW - passivity

KW - port-Hamiltonian systems

KW - stabilization

KW - formatie controle

KW - mobiele robots

KW - niet-holonomische systemen

KW - ontwerp

KW - op interne modellen gebaseerde benadering

KW - passiviteit

KW - port-Hamiltoniaanse systemen

KW - stabilisatie

KW - verstoringsafwijzing

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DO - 10.1002/rnc.3510

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JO - International Journal of Robust and Nonlinear Control

JF - International Journal of Robust and Nonlinear Control

IS - 15

ER -

Disturbance rejection in formation keeping control of nonholonomic wheeled robots

Abstract

Keywords

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