Ewoud Vos

Formation control of a multi-agent system subject to Coulomb friction

This paper considers the formation control problem for a network of point masses which are subject to Coulomb friction. A dynamical model including the planar discontinuous friction force is presented in the port-Hamiltonian framework. Moreover, continuous and discontinuous controllers are designed in order to achieve a desired prescribed formation. The main results are derived using tools from nonsmooth Lyapunov analysis. It is shown that the continuous static feedback controller fails to achieve the exact formation, while the discontinuous controller achieves the desired task exactly. Numerical simulations are provided to illustrate the effectiveness of the approach.

Formation control of wheeled robots in the port-Hamiltonian framework

Abstract This paper proposes a new control strategy for the formation control of a network of wheeled robots. Starting from the rigid body dynamics, a dynamical model of the wheeled robot is derived in the port-Hamiltonian framework. The formation control objective is achieved by interconnecting the robots using virtual couplings, which give a clear physical interpretation of the proposed solution. Simulation and experimental results are given, to illustrate the effectiveness of the approach.

Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

This technical note presents an integrated approach for formation control and velocity tracking of a group of nonholonomic wheeled robots. The solution is defined within the port-Hamiltonian framework, providing a clear interpretation of the results. The controller consists of a local nonlinear heading and velocity tracking controller combined with a distributed formation controller. The formation controller achieves formations by assigning virtual couplings in between the robots. Experimental results are provided to illustrate the effectiveness of the approach.

Equal distribution of satellite constellations on circular target orbits

This paper addresses the problem of equal distribution of satellite constellations on circular target orbits. The control goal is to make the constellation converge to a circular target orbit, while spatially distributing the satellites at equal inter-satellite distances. The solution is defined in the port-Hamiltonian framework, which gives a clear physical interpretation of the obtained control laws, insight into the energy consumption and complete stability proofs. The controller consists of two parts: the internal control system steers each individual satellite to the target orbit, the external control system equally distributes the satellite constellation. Numerical simulation results are given to illustrate the effectiveness of the approach.