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Disturbance rejection in formation keeping control of nonholonomic wheeled robots
Author(s) -
Jafarian Matin,
Vos Ewoud,
De Persis Claudio,
Scherpen Jacquelien,
Schaft Arjan
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3510
Subject(s) - control theory (sociology) , robot , nonholonomic system , control engineering , internal model , computer science , disturbance (geology) , control (management) , mobile robot , engineering , artificial intelligence , paleontology , biology
Summary 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 © 2016 John Wiley & Sons, Ltd.