Disturbance rejection in formation keeping control of nonholonomic wheeled robots

Matin Jafarian, Ewoud Vos, Claudio De Persis, Jacquelien M. A. Scherpen, Arjan J. van der Schaft

Onderzoeksoutput: ArticleAcademicpeer review

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 (c) 2016 John Wiley & Sons, Ltd.
Originele taal-2English
Pagina's (van-tot)3344-3362
Aantal pagina's19
TijdschriftInternational Journal of Robust and Nonlinear Control
Volume26
Nummer van het tijdschrift15
Vroegere onlinedatum15 jan. 2016
DOI's
StatusPublished - 1 okt. 2016
Extern gepubliceerdJa

Keywords

  • formatie controle
  • passiviteit
  • niet-holonomische systemen
  • port-Hamiltoniaanse systemen
  • verstoringsafwijzing
  • op interne modellen gebaseerde benadering
  • mobiele robots
  • stabilisatie
  • ontwerp

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