Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

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

Onderzoeksoutput: ArticleAcademicpeer review

Samenvatting

This technical note presents an integrated approach for formation control and velocity tracking of a group of non-holonomic wheeled robots. The solution is defined within the port-Hamiltonian framework, providing a clear interpretation of the results. The controller consists of a local nonlinear heading and velocity tracking controller combined with a distributed formation controller. The formation controller achieves formations by assigning virtual couplings in between the robots. Experimental results are provided to illustrate the effectiveness of the approach.
Originele taal-2English
Artikelnummer9
Pagina's (van-tot)2702-2707
Aantal pagina's6
TijdschriftIEEE-Transactions on Automatic Control
Volume61
Nummer van het tijdschrift9
DOI's
StatusPublished - 1 sep. 2016
Extern gepubliceerdJa

Keywords

  • gedecentraliseerde controle
  • robotbesturing
  • snelheidsregeling
  • hamiltoniaanse systemen
  • dekking

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