This paper presents the results of formation keeping control of a group of nonholonomic wheeled robots within the port-Hamiltonian framework and in the presence of matched input disturbances. Two scenarios on the internal damping of the dynamics of the robots are considered: strictly output passive and loss less robots. For strictly output passive robots, the distributed formation keeping controllers drive the robots towards a desired formation, while internal-model-based controllers locally compensate the harmonic input disturbance for each of the robots. Moreover, the effect of constant input disturbances is studied considering internal-model-based controllers. For lossless robots, results on formation keeping control are presented. Simulation results illustrate the effectiveness of the approach. Copyright (c) 2016 John Wiley & Sons, Ltd.
Disturbance rejection in formation keeping control of nonholonomic wheeled robots
2016-10-01
Jafarian , M , Vos , E , De Persis , C , Scherpen , J & Schaft, van der , A 2016 , ' Disturbance rejection in formation keeping control of nonholonomic wheeled robots ' , International Journal of Robust and Nonlinear Control , vol. 26 , no. 15 , pp. 3344-3362 . https://doi.org/10.1002/rnc.3510
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Formation control of multiple nonholonomic mobile robots
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