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2022, Proceedings of the European Control Conference 2022, Pages 472-477

Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods (04b Atto di convegno in volume)

Paglianti I, Cristofaro A

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.
ISBN: 978-3-9071-4407-7
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