Disturbance rejection in formation keeping control of nonholonomic wheeled robots

DOI10.1002/rnc.3510zbMath1350.93035OpenAlexW2293639514MaRDI QIDQ2832690

Jacquelien M. A. Scherpen, Matin Jafarian, Ewoud Vos, Claudio De Persis, Arjan J. Van der Schaft

Publication date: 11 November 2016

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://pure.rug.nl/ws/files/78650971/Disturbance_rejection_in_formation_keeping_control_of_nonholonomic_wheeled_robots.pdf

zbMATH Keywords

disturbance rejectionpassivitynonholonomic systemsformation controlport-Hamiltonian systemsinternal-model-based approach

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Decentralized systems (93A14) Nonholonomic dynamical systems (37J60)

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Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance ⋮ Robust PID consensus-based formation control of nonholonomic mobile robots affected by disturbances ⋮ Global consensus-based formation control of perturbed nonholonomic mobile robots with time varying delays ⋮ Guaranteed cost formation tracking control for swarm systems with intermittent communications

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