Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods

Authors

Ilaria Paglianti, Andrea Cristofaro

Abstract

The problem of fault-tolerant formation control for a team of wheeled robots is addressed. The multi-agent network is represented as the passive interconnection of port-Hamiltonian systems, and trajectory-tracking is achieved by using passivity arguments. Two fault-tolerant control strategies have been proposed, depending on the fault severity: a soft one, consisting in lowering the control burden, and a hard one, corresponding to formation reconfiguration.

Citation

• Journal: 2022 European Control Conference (ECC)
• Year: 2022
• Volume:
• Issue:
• Pages: 472–477
• Publisher: IEEE
• DOI: 10.23919/ecc55457.2022.9838156

BibTeX

@inproceedings{Paglianti_2022,
  title={{Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods}},
  DOI={10.23919/ecc55457.2022.9838156},
  booktitle={{2022 European Control Conference (ECC)}},
  publisher={IEEE},
  author={Paglianti, Ilaria and Cristofaro, Andrea},
  year={2022},
  pages={472--477}
}

Download the bib file

References

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