Authors

Cristian Secchi, Cesare Fantuzzi

Abstract

In this Chapter we address the problem of formation control of a group of robots that exchange information over a communication network characterized by a non negligible delay. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled group of robots as a port-Hamiltonian system and we exploit the scattering framework to achieve a passive behavior of the controlled system and to stabilize the robots in the desired formation independently of any communication delay.

Keywords

Formation Control; Communication Delay; Dirac Structure; Interconnection Structure; Coordinate Agent

Citation

BibTeX

@inbook{Secchi_2009,
  title={{Formation Control over Delayed Communication Network}},
  ISBN={9783642031991},
  ISSN={1860-0840},
  DOI={10.1007/978-3-642-03199-1_4},
  booktitle={{Modelling, Estimation and Control of Networked Complex Systems}},
  publisher={Springer Berlin Heidelberg},
  author={Secchi, Cristian and Fantuzzi, Cesare},
  year={2009},
  pages={59--74}
}

Download the bib file

References

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