Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Ewoud Vos; Arjan J. van der Schaft; Jacquelien M. A. Scherpen

doi:10.1109/TAC.2015.2504547

Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Ewoud Vos, Arjan J. van der Schaft, Jacquelien M. A. Scherpen

University of Groningen

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

Abstract

This technical note presents an integrated approach for formation control and velocity tracking of a group of non-holonomic wheeled robots. The solution is defined within the port-Hamiltonian framework, providing a clear interpretation of the results. The controller consists of a local nonlinear heading and velocity tracking controller combined with a distributed formation controller. The formation controller achieves formations by assigning virtual couplings in between the robots. Experimental results are provided to illustrate the effectiveness of the approach.

Original language	English
Article number	9
Pages (from-to)	2702-2707
Number of pages	6
Journal	IEEE-Transactions on Automatic Control
Volume	61
Issue number	9
DOIs	https://doi.org/10.1109/TAC.2015.2504547
Publication status	Published - 1 Sept 2016
Externally published	Yes

Keywords

coverage
decentralized control
hamiltonian-systems
robot control
velocity control

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10.1109/TAC.2015.2504547

Cite this

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abstract = "This technical note presents an integrated approach for formation control and velocity tracking of a group of non-holonomic wheeled robots. The solution is defined within the port-Hamiltonian framework, providing a clear interpretation of the results. The controller consists of a local nonlinear heading and velocity tracking controller combined with a distributed formation controller. The formation controller achieves formations by assigning virtual couplings in between the robots. Experimental results are provided to illustrate the effectiveness of the approach.",

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Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Abstract

Keywords

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