Samenvatting
This paper presents the results of formation keeping control of a group of nonholonomic wheeled robots within the port-Hamiltonian framework and in the presence of matched input disturbances. Two scenarios on the internal damping of the dynamics of the robots are considered: strictly output passive and loss less robots. For strictly output passive robots, the distributed formation keeping controllers drive the robots towards a desired formation, while internal-model-based controllers locally compensate the harmonic input disturbance for each of the robots. Moreover, the effect of constant input disturbances is studied considering internal-model-based controllers. For lossless robots, results on formation keeping control are presented. Simulation results illustrate the effectiveness of the approach. Copyright © 2016 John Wiley & Sons, Ltd.
| Originele taal-2 | English |
|---|---|
| Pagina's (van-tot) | 3344-3362 |
| Aantal pagina's | 19 |
| Tijdschrift | International Journal of Robust and Nonlinear Control |
| Volume | 26 |
| Nummer van het tijdschrift | 15 |
| Vroegere onlinedatum | 15 jan. 2016 |
| DOI's | |
| Status | Published - 1 okt. 2016 |
| Extern gepubliceerd | Ja |
Keywords
- formatie controle
- mobiele robots
- niet-holonomische systemen
- ontwerp
- op interne modellen gebaseerde benadering
- passiviteit
- port-Hamiltoniaanse systemen
- stabilisatie
- verstoringsafwijzing