Formation control of wheeled robots in the port-Hamiltonian framework

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

doi:10.3182/20140824-6-ZA-1003.00394

Formation control of wheeled robots in the port-Hamiltonian framework

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

University of Groningen, Research Institute of Technology and Management
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 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.

Originele taal-2	English
Titel	IFAC Proceedings Volumes
Subtitel	Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014
Uitgeverij	Elsevier
Pagina's	6662-6667
Aantal pagina's	6
Volume	47
Uitgave	3
ISBN van geprinte versie	978-3-902823-62-5
DOI's	https://doi.org/10.3182/20140824-6-ZA-1003.00394
Status	Published - 30 aug. 2014
Extern gepubliceerd	Ja

Keywords

mobiele robots
modellering en besturing van genetwerkte robotsystemen

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10.3182/20140824-6-ZA-1003.00394

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Vos, E., Scherpen, J. M. A., van der Schaft, A. J., & Postma, A. (2014). Formation control of wheeled robots in the port-Hamiltonian framework. In IFAC Proceedings Volumes: Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014 (3 uitgave, Vol. 47, blz. 6662-6667). Elsevier. https://doi.org/10.3182/20140824-6-ZA-1003.00394

@inproceedings{ea5168318fd240d6a9509666401743d3,

title = "Formation control of wheeled robots in the port-Hamiltonian framework",

abstract = "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.",

keywords = "mobile robots, networked robotic systems modeling and control, mobiele robots, modellering en besturing van genetwerkte robotsystemen",

author = "Ewoud Vos and Scherpen, {Jacquelien M.A.} and {van der Schaft}, {Arjan J.} and Ate Postma",

note = "19th IFAC World Congress ; Conference date: 24-08-2014 Through 29-08-2014",

year = "2014",

month = aug,

day = "30",

doi = "10.3182/20140824-6-ZA-1003.00394",

language = "English",

isbn = "978-3-902823-62-5",

volume = "47",

pages = "6662--6667",

booktitle = "IFAC Proceedings Volumes",

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edition = "3",

}

Vos, E, Scherpen, JMA, van der Schaft, AJ & Postma, A 2014, Formation control of wheeled robots in the port-Hamiltonian framework. in IFAC Proceedings Volumes: Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014. 3 edn, vol. 47, Elsevier, blz. 6662-6667. https://doi.org/10.3182/20140824-6-ZA-1003.00394

Formation control of wheeled robots in the port-Hamiltonian framework. / Vos, Ewoud; Scherpen, Jacquelien M.A.; van der Schaft, Arjan J. et al.
IFAC Proceedings Volumes: Proceedings of the 19th World CongressThe International Federation of Automatic ControlCape Town, South Africa. August 24-29, 2014. Vol. 47 3. uitgave Elsevier, 2014. blz. 6662-6667.

Onderzoeksoutput: Contribution to conference proceeding › Academic › peer review

TY - GEN

T1 - Formation control of wheeled robots in the port-Hamiltonian framework

AU - Vos, Ewoud

AU - Scherpen, Jacquelien M.A.

AU - van der Schaft, Arjan J.

AU - Postma, Ate

N1 - 19th IFAC World Congress ; Conference date: 24-08-2014 Through 29-08-2014

PY - 2014/8/30

Y1 - 2014/8/30

N2 - 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.

AB - 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.

KW - mobile robots

KW - networked robotic systems modeling and control

KW - mobiele robots

KW - modellering en besturing van genetwerkte robotsystemen

U2 - 10.3182/20140824-6-ZA-1003.00394

DO - 10.3182/20140824-6-ZA-1003.00394

M3 - Contribution to conference proceeding

SN - 978-3-902823-62-5

VL - 47

SP - 6662

EP - 6667

BT - IFAC Proceedings Volumes

PB - Elsevier

ER -

Formation control of wheeled robots in the port-Hamiltonian framework

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Keywords

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