Formation control of wheeled robots in the port-Hamiltonian framework

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

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


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 languageEnglish
Title of host publicationIFAC Proceedings Volumes
Subtitle of host publicationProceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014
Number of pages6
ISBN (Print)978-3-902823-62-5
Publication statusPublished - 30 Aug 2014
Externally publishedYes


  • networked robotic systems modeling and control
  • mobile robots


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