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 language | English |
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Title of host publication | IFAC-PapersOnLine |
Subtitle of host publication | Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) |
Publisher | Elsevier |
Pages | 63-68 |
Number of pages | 6 |
Volume | 48 |
Edition | 13 |
DOIs | |
Publication status | Published - 1 Jan 2015 |
Externally published | Yes |
Keywords
- disturbance rejection
- formation control
- nonholonomic systems
- port-Hamiltonian systems
- internal model control