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.
|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|
|Number of pages||6|
|Publication status||Published - 30 Aug 2014|
- networked robotic systems modeling and control
- mobile robots