{"title":"port - hamilton框架下轮式机器人的编队控制","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":"{\"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}","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}
Formation Control of Wheeled Robots in the Port-Hamiltonian Framework
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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