Formation control of nonholonomic wheeled robots in the presence of matched input disturbances

Authors

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

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-modelbased 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

Citation

• Journal: IFAC-PapersOnLine
• Year: 2015
• Volume: 48
• Issue: 13
• Pages: 63–68
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2015.10.215
• Note: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015- Lyon, France, 4–7 July 2015

BibTeX

@article{Vos_2015,
  title={{Formation control of nonholonomic wheeled robots in the presence of matched input disturbances}},
  volume={48},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2015.10.215},
  number={13},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Vos, Ewoud and Jafarian, Matin and Persis, Claudio De and Scherpen, Jacquelien M.A. and Schaft, Arjan J. van der},
  year={2015},
  pages={63--68}
}

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