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SUMMARYThis paper presents the results of formation keeping control of a group of nonholonomic wheeled robots within the port-Hamiltonian framework and in the presence of matched input disturbances. Two scenarios on the internal damping of the dynamics of the robots are considered: strictly output passive and loss less robots. For strictly output passive robots, the distributed formation keeping controllers drive the robots towards a desired formation, while internal-model-based controllers locally compensate the harmonic input disturbance for each of the robots. Moreover, the effect of constant input disturbances is studied considering internal-model-based controllers. For lossless robots, results on formation keeping control are presented. Simulation results illustrate the effectiveness of the approach.

Summary This paper presents consensus of the orientations and average positions for a group of unicycles using ternary and hybrid controllers. The decentralized controllers designed to reach consensus of the average positions take only values in the set {−1,0,+1}. In addition, a hybrid controller is introduced to control the orientations. Finite‐time practical consensus of the average positions is proven despite the simple ternary control laws together with asymptotic consensus of the orientations. Furthermore, the consensus problem is studied in the presence of matched input disturbances that are locally rejected using an internal‐model‐based controller. The analysis is performed in a hybrid framework. Simulation results illustrate the effectiveness of the design. Copyright © 2017 John Wiley & Sons, Ltd.

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