{"title":"Formation Control of Wheeled Robots in the Port-Hamiltonian Framework","authors":"E. Vos, J. Scherpen, A. Schaft, A. Postma","doi":"10.3182/20140824-6-ZA-1003.00394","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"15 1","pages":"6662-6667"},"PeriodicalIF":0.0000,"publicationDate":"2014-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IFAC Proceedings Volumes","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3182/20140824-6-ZA-1003.00394","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17
Abstract
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.
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