Formation control of wheeled robots in the port-Hamiltonian framework

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

doi:10.3182/20140824-6-ZA-1003.00394

Formation control of wheeled robots in the port-Hamiltonian framework

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

University of Groningen, Research Institute of Technology and Management
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 proposes a new control strategy for the formation control of a network of wheeled robots. Starting from the rigid body dynamics, a dynamical model of the wheeled robot is derived in the port-Hamiltonian framework. The formation control objective is achieved by interconnecting the robots using virtual couplings, which give a clear physical interpretation of the proposed solution. Simulation and experimental results are given, to illustrate the effectiveness of the approach.

Original language	English
Title of host publication	IFAC Proceedings Volumes
Subtitle of host publication	Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014
Publisher	Elsevier
Pages	6662-6667
Number of pages	6
Volume	47
Edition	3
ISBN (Print)	978-3-902823-62-5
DOIs	https://doi.org/10.3182/20140824-6-ZA-1003.00394
Publication status	Published - 30 Aug 2014
Externally published	Yes

Keywords

mobile robots
networked robotic systems modeling and control

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10.3182/20140824-6-ZA-1003.00394

Cite this

Vos, E., Scherpen, J. M. A., van der Schaft, A. J., & Postma, A. (2014). Formation control of wheeled robots in the port-Hamiltonian framework. In IFAC Proceedings Volumes: Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014 (3 ed., Vol. 47, pp. 6662-6667). Elsevier. https://doi.org/10.3182/20140824-6-ZA-1003.00394

@inproceedings{ea5168318fd240d6a9509666401743d3,

title = "Formation control of wheeled robots in the port-Hamiltonian framework",

abstract = "This paper proposes a new control strategy for the formation control of a network of wheeled robots. Starting from the rigid body dynamics, a dynamical model of the wheeled robot is derived in the port-Hamiltonian framework. The formation control objective is achieved by interconnecting the robots using virtual couplings, which give a clear physical interpretation of the proposed solution. Simulation and experimental results are given, to illustrate the effectiveness of the approach.",

keywords = "mobile robots, networked robotic systems modeling and control, mobiele robots, modellering en besturing van genetwerkte robotsystemen",

author = "Ewoud Vos and Scherpen, {Jacquelien M.A.} and {van der Schaft}, {Arjan J.} and Ate Postma",

note = "19th IFAC World Congress ; Conference date: 24-08-2014 Through 29-08-2014",

year = "2014",

month = aug,

day = "30",

doi = "10.3182/20140824-6-ZA-1003.00394",

language = "English",

isbn = "978-3-902823-62-5",

volume = "47",

pages = "6662--6667",

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edition = "3",

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Vos, E, Scherpen, JMA, van der Schaft, AJ & Postma, A 2014, Formation control of wheeled robots in the port-Hamiltonian framework. in IFAC Proceedings Volumes: Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014. 3 edn, vol. 47, Elsevier, pp. 6662-6667. https://doi.org/10.3182/20140824-6-ZA-1003.00394

Formation control of wheeled robots in the port-Hamiltonian framework. / Vos, Ewoud; Scherpen, Jacquelien M.A.; van der Schaft, Arjan J. et al.
IFAC Proceedings Volumes: Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014. Vol. 47 3. ed. Elsevier, 2014. p. 6662-6667.

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

TY - GEN

T1 - Formation control of wheeled robots in the port-Hamiltonian framework

AU - Vos, Ewoud

AU - Scherpen, Jacquelien M.A.

AU - van der Schaft, Arjan J.

AU - Postma, Ate

N1 - 19th IFAC World Congress ; Conference date: 24-08-2014 Through 29-08-2014

PY - 2014/8/30

Y1 - 2014/8/30

N2 - This paper proposes a new control strategy for the formation control of a network of wheeled robots. Starting from the rigid body dynamics, a dynamical model of the wheeled robot is derived in the port-Hamiltonian framework. The formation control objective is achieved by interconnecting the robots using virtual couplings, which give a clear physical interpretation of the proposed solution. Simulation and experimental results are given, to illustrate the effectiveness of the approach.

AB - This paper proposes a new control strategy for the formation control of a network of wheeled robots. Starting from the rigid body dynamics, a dynamical model of the wheeled robot is derived in the port-Hamiltonian framework. The formation control objective is achieved by interconnecting the robots using virtual couplings, which give a clear physical interpretation of the proposed solution. Simulation and experimental results are given, to illustrate the effectiveness of the approach.

KW - mobile robots

KW - networked robotic systems modeling and control

KW - mobiele robots

KW - modellering en besturing van genetwerkte robotsystemen

U2 - 10.3182/20140824-6-ZA-1003.00394

DO - 10.3182/20140824-6-ZA-1003.00394

M3 - Contribution to conference proceeding

SN - 978-3-902823-62-5

VL - 47

SP - 6662

EP - 6667

BT - IFAC Proceedings Volumes

PB - Elsevier

ER -

Formation control of wheeled robots in the port-Hamiltonian framework

Abstract

Keywords

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