Formation control of nonholonomic wheeled robots in the presence of matched input disturbances. Issue 13 (2015)

• Record Type: Journal Article
• Authors: Vos, Ewoud; Jafarian, Matin; Persis, Claudio De; Scherpen, Jacquelien M.A.; Schaft, Arjan J. van der
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 13(2015)
• Page Start: 63
• Page End: 68
• Publication Date: 2015
• Subjects: Disturbance rejection -- formation control -- nonholonomic systems -- port-Hamiltonian systems -- internal model control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.10.215
• Languages: English
• ISSNs: 2405-8963

Abstract

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.