Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances

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

doi:10.1016/j.ifacol.2015.10.215

Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances

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

University of Groningen, Engineering and Technology Institute (ENTEG)
Johann Bernoulli Institute for Mathematics and Computer Science, Faculty of Science and Engineering (FSE), University of Groningen

Onderzoeksoutput: Contribution to conference proceeding › Academic › peer review

Samenvatting

This paper presents a new approach for formation keeping control of a network of nonholonomic wheeled robots within the port-Hamiltonian framework in the presence of matched input disturbances. The formation keeping controller drives the network towards a desired formation by assigning virtual couplings between the robots, while an internal-model-based controller is designed to locally compensate the disturbance for each of the robots.

Originele taal-2	English
Titel	IFAC-PapersOnLine
Subtitel	Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC)
Uitgeverij	Elsevier
Pagina's	63-68
Aantal pagina's	6
Volume	48
Uitgave	13
DOI's	https://doi.org/10.1016/j.ifacol.2015.10.215
Status	Published - 1 jan. 2015
Extern gepubliceerd	Ja

Keywords

verstoringsafwijzing
formatie controle
niet-holonomische systemen
port-Hamiltoniaanse systemen
interne modelcontrole

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10.1016/j.ifacol.2015.10.215

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Vos, E., Jafarian, M., De Persis, C., Scherpen, J. M. A., & van der Schaft, A. J. (2015). Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. In IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) (13 redactie, Vol. 48, blz. 63-68). Elsevier. https://doi.org/10.1016/j.ifacol.2015.10.215

@inproceedings{ecbd1542627e4b5c89e903d723590314,

title = "Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances",

abstract = "This paper presents a new approach for formation keeping control of a network of nonholonomic wheeled robots within the port-Hamiltonian framework in the presence of matched input disturbances. The formation keeping controller drives the network towards a desired formation by assigning virtual couplings between the robots, while an internal-model-based controller is designed to locally compensate the disturbance for each of the robots.",

keywords = "disturbance rejection, formation control, nonholonomic systems, port-Hamiltonian systems, internal model control, verstoringsafwijzing, formatie controle, niet-holonomische systemen, port-Hamiltoniaanse systemen, interne modelcontrole",

author = "Ewoud Vos and Matin Jafarian and {De Persis}, Claudio and Scherpen, {Jacquelien M. A.} and {van der Schaft}, {Arjan J.}",

note = "5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) ; Conference date: 04-07-2015 Through 07-07-2015",

year = "2015",

month = jan,

day = "1",

doi = "10.1016/j.ifacol.2015.10.215",

language = "English",

volume = "48",

pages = "63--68",

booktitle = "IFAC-PapersOnLine",

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Vos, E, Jafarian, M, De Persis, C, Scherpen, JMA & van der Schaft, AJ 2015, Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. in IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC). 13 edn, vol. 48, Elsevier, blz. 63-68. https://doi.org/10.1016/j.ifacol.2015.10.215

Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. / Vos, Ewoud; Jafarian, Matin; De Persis, Claudio et al.
IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC). Vol. 48 13. redactie Elsevier, 2015. blz. 63-68.

Onderzoeksoutput: Contribution to conference proceeding › Academic › peer review

TY - GEN

T1 - Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances

AU - Vos, Ewoud

AU - Jafarian, Matin

AU - De Persis, Claudio

AU - Scherpen, Jacquelien M. A.

AU - van der Schaft, Arjan J.

N1 - 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC) ; Conference date: 04-07-2015 Through 07-07-2015

PY - 2015/1/1

Y1 - 2015/1/1

N2 - This paper presents a new approach for formation keeping control of a network of nonholonomic wheeled robots within the port-Hamiltonian framework in the presence of matched input disturbances. The formation keeping controller drives the network towards a desired formation by assigning virtual couplings between the robots, while an internal-model-based controller is designed to locally compensate the disturbance for each of the robots.

AB - This paper presents a new approach for formation keeping control of a network of nonholonomic wheeled robots within the port-Hamiltonian framework in the presence of matched input disturbances. The formation keeping controller drives the network towards a desired formation by assigning virtual couplings between the robots, while an internal-model-based controller is designed to locally compensate the disturbance for each of the robots.

KW - disturbance rejection

KW - formation control

KW - nonholonomic systems

KW - port-Hamiltonian systems

KW - internal model control

KW - verstoringsafwijzing

KW - formatie controle

KW - niet-holonomische systemen

KW - port-Hamiltoniaanse systemen

KW - interne modelcontrole

U2 - 10.1016/j.ifacol.2015.10.215

DO - 10.1016/j.ifacol.2015.10.215

M3 - Contribution to conference proceeding

VL - 48

SP - 63

EP - 68

BT - IFAC-PapersOnLine

PB - Elsevier

ER -

Vos E, Jafarian M, De Persis C, Scherpen JMA, van der Schaft AJ. Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances. In IFAC-PapersOnLine: Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for NonLinear Control (LHMNC). 13 redactie Vol. 48. Elsevier. 2015. blz. 63-68 doi: 10.1016/j.ifacol.2015.10.215

Formation Control of Nonholonomic Wheeled Robots in the Presence of Matched Input Disturbances

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Keywords

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