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.
Dettaglio pubblicazione
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
ISBN: 978-3-9071-4407-7
keywords