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Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods | IEEE Conference Publication | IEEE Xplore

Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods


Abstract:

The problem of fault-tolerant formation control for a team of wheeled robots is addressed. The multi-agent network is represented as the passive interconnection of port-H...Show More

Abstract:

The problem of fault-tolerant formation control for a team of wheeled robots is addressed. The multi-agent network is represented as the passive interconnection of port-Hamiltonian systems, and trajectory-tracking is achieved by using passivity arguments. Two fault-tolerant control strategies have been proposed, depending on the fault severity: a soft one, consisting in lowering the control burden, and a hard one, corresponding to formation reconfiguration.
Date of Conference: 12-15 July 2022
Date Added to IEEE Xplore: 05 August 2022
ISBN Information:
Conference Location: London, United Kingdom

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