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

doi:10.1016/j.ifacol.2015.10.215

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

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: Chapter in Book/Report/Conference proceeding › Contribution to conference proceeding › Academic › peer-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 language	English
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	https://doi.org/10.1016/j.ifacol.2015.10.215
Publication status	Published - 1 Jan 2015
Externally published	Yes

Keywords

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

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10.1016/j.ifacol.2015.10.215

Cite this

Vos, E., Jafarian, M., De Persis, C., Scherpen, J. M. A., & van der Schaft, A. J. (2015). Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. In IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) (13 ed., Vol. 48, pp. 63-68). Elsevier. https://doi.org/10.1016/j.ifacol.2015.10.215

@inproceedings{ecbd1542627e4b5c89e903d723590314,

title = "Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances",

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.",

keywords = "disturbance rejection, formation control, nonholonomic systems, port-Hamiltonian systems, internal model control, verstoringsafwijzing, formatie controle, niet-holonomische systemen, port-Hamiltoniaanse systemen, interne modelcontrole",

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

note = "5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) ; Conference date: 04-07-2015 Through 07-07-2015",

year = "2015",

month = jan,

day = "1",

doi = "10.1016/j.ifacol.2015.10.215",

language = "English",

volume = "48",

pages = "63--68",

booktitle = "IFAC-PapersOnLine",

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Vos, E, Jafarian, M, De Persis, C, Scherpen, JMA & van der Schaft, AJ 2015, Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. in IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC). 13 edn, vol. 48, Elsevier, pp. 63-68. https://doi.org/10.1016/j.ifacol.2015.10.215

Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. / Vos, Ewoud; Jafarian, Matin; De Persis, Claudio et al.
IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC). Vol. 48 13. ed. Elsevier, 2015. p. 63-68.

Research output: Chapter in Book/Report/Conference proceeding › Contribution to conference proceeding › Academic › peer-review

TY - GEN

T1 - Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances

AU - Vos, Ewoud

AU - Jafarian, Matin

AU - De Persis, Claudio

AU - Scherpen, Jacquelien M. A.

AU - van der Schaft, Arjan J.

N1 - 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) ; Conference date: 04-07-2015 Through 07-07-2015

PY - 2015/1/1

Y1 - 2015/1/1

N2 - 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.

AB - 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.

KW - disturbance rejection

KW - formation control

KW - nonholonomic systems

KW - port-Hamiltonian systems

KW - internal model control

KW - verstoringsafwijzing

KW - formatie controle

KW - niet-holonomische systemen

KW - port-Hamiltoniaanse systemen

KW - interne modelcontrole

U2 - 10.1016/j.ifacol.2015.10.215

DO - 10.1016/j.ifacol.2015.10.215

M3 - Contribution to conference proceeding

VL - 48

SP - 63

EP - 68

BT - IFAC-PapersOnLine

PB - Elsevier

ER -

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

Abstract

Keywords

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