Abstract
In this Chapter we address the problem of formation control of a group of robots that exchange information over a communication network characterized by a non negligible delay. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled group of robots as a port-Hamiltonian system and we exploit the scattering framework to achieve a passive behavior of the controlled system and to stabilize the robots in the desired formation independently of any communication delay.
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Secchi, C., Fantuzzi, C. (2009). Formation Control over Delayed Communication Network. In: Chiuso, A., Fortuna, L., Frasca, M., Rizzo, A., Schenato, L., Zampieri, S. (eds) Modelling, Estimation and Control of Networked Complex Systems. Understanding Complex Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03199-1_4
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DOI: https://doi.org/10.1007/978-3-642-03199-1_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03198-4
Online ISBN: 978-3-642-03199-1
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