Publication

Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Vos, E., van der Schaft, A. J. & Scherpen, J. M. A., Sep-2016, In : IEEE Transactions on Automatic Control. 61, 9, p. 2702-2707 6 p.

Research output: Contribution to journalArticleAcademicpeer-review

Copy link to clipboard

Documents

  • Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

    Final publisher's version, 349 KB, PDF document

    Request copy

DOI

This technical note presents an integrated approach for formation control and velocity tracking of a group of non-holonomic wheeled robots. The solution is defined within the port-Hamiltonian framework, providing a clear interpretation of the results. The controller consists of a local nonlinear heading and velocity tracking controller combined with a distributed formation controller. The formation controller achieves formations by assigning virtual couplings in between the robots. Experimental results are provided to illustrate the effectiveness of the approach.

Original languageEnglish
Pages (from-to)2702-2707
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume61
Issue number9
Publication statusPublished - Sep-2016

    Keywords

  • Decentralized control, robot control, velocity control, HAMILTONIAN-SYSTEMS, COVERAGE

ID: 35777926