Formation control of nonholonomic wheeled robots in the presence of matched input disturbances

Abstract

This paper studies formation keeping control of a network of nonholonomic wheeled robots within the port-Hamiltonian framework in the presence of matched input disturbances. The formation keeping controller drives the network towards a desired formation by assigning virtual couplings between the robots, while an internal-model-based controller is designed to locally compensate the disturbance for each of the robots.