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.
Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods / Paglianti, I; Cristofaro, A. - (2022), pp. 472-477. ( 2022 European Control Conference, ECC 2022 Londra (Regno Unito) ) [10.23919/ECC55457.2022.9838156].
Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods
Cristofaro, A
Supervision
2022
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.| File | Dimensione | Formato | |
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