摘要：AbstractThis paper presents a new approach for 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-modelbased controller is designed to locally compensate the disturbance for each of the robots.
关键词：KeywordsDisturbance rejectionformation controlnonholonomic systemsport-Hamiltonian systemsinternal model control
