no code implementations • 17 May 2023 • Ningbo Li, Pablo Borja, Arjan van der Schaft, Jacquelien M. A. Scherpen
To avoid unavailable distance terms in the control law, an estimator is designed based on port-Hamiltonian theory and the property that energy is coordinate-free for different sensor modalities using bearing and velocity measurements, which permits our framework to inject damping for the formation maneuvers.
no code implementations • 17 May 2023 • Ningbo Li, Zhiyong Sun, Arjan van der Schaft, Jacquelien M. A. Scherpen
Regarding the external feedback, a general framework is proposed for all kinds of formations by means of the advantage that the pH model is energy-based and coordinate-free.
