Paper Info
Title
Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots.
Abstract
This technical note presents an integrated approach for formation control and velocity tracking of a group of nonholonomic 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.
Year
DOI
Venue
2016
10.1109/TAC.2015.2504547
IEEE Trans. Automat. Contr.
Keywords
Field
DocType
Robot kinematics,Mobile robots,Robot sensing systems,Couplings,Axles,Shape
Robot control,Control theory,Nonlinear system,Decentralised system,Control theory,Robot kinematics,Control engineering,Robot,Nonholonomic system,Mathematics,Mobile robot
Journal
Volume
Issue
ISSN
61
9
0018-9286
Citations 
PageRank 
References 
5
0.40
9
Authors
3
Name
Order
Citations
PageRank
Ewoud Vos1121.18
arjan van der schaft2992138.91
Jacquelien M. A. Scherpen349195.93