Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances

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

Research output: Chapter in Book/Report/Conference proceedingContribution to conference proceedingAcademicpeer-review

Abstract

This paper presents a new approach for formation keeping control of a network of nonholonomic wheeled robots within the port-Hamiltonian framework in the presence of matched input disturbances. The formation keeping controller drives the network towards a desired formation by assigning virtual couplings between the robots, while an internal-model-based controller is designed to locally compensate the disturbance for each of the robots.
Original languageEnglish
Title of host publicationIFAC-PapersOnLine
Subtitle of host publicationProceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC)
PublisherElsevier
Pages63-68
Number of pages6
Volume48
Edition13
DOIs
Publication statusPublished - 1 Jan 2015
Externally publishedYes

Keywords

  • disturbance rejection
  • formation control
  • nonholonomic systems
  • port-Hamiltonian systems
  • internal model control

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