Formation Control of Wheeled Robots in the Port-Hamiltonian Framework

Authors

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

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

Networked robotic system modeling and control; Mobile robots

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2014
• Volume: 47
• Issue: 3
• Pages: 6662–6667
• Publisher: Elsevier BV
• DOI: 10.3182/20140824-6-za-1003.00394
• Note: 19th IFAC World Congress

BibTeX

@article{Vos_2014,
  title={{Formation Control of Wheeled Robots in the Port-Hamiltonian Framework}},
  volume={47},
  ISSN={1474-6670},
  DOI={10.3182/20140824-6-za-1003.00394},
  number={3},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Vos, Ewoud and Scherpen, Jacquelien M.A. and Schaft, Arjan J. van der and Postma, Ate},
  year={2014},
  pages={6662--6667}
}

Download the bib file

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