| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712018 | IFAC-PapersOnLine | 2015 | 6 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
