|Table of Contents|

 Sliding mode control of mobile robot formations
based on neural networks
(PDF)

[ISSN:1007-449X/CN:23-1 408/TM]

Issue:
2014年03
Page:
113-118
Research Field:
Publishing date:

Info

Title:
 Sliding mode control of mobile robot formations
based on neural networks
Author(s):
 ZHU Ling LI Yan-dong SUN Ming WANG Zong-yi
 1. College of Computer and Control Engineering,Qiqihar University,Qiqihar 161006,China;
2. School of Automation,Harbin Engineering University,Harbin 150001,China
Keywords:
 formation control sliding mode control nonholonomic mobile robot uncertainties leader -
follower
dynamics
PACS:
-
DOI:
-
Abstract:
 A combined kinematic /adaptive neural sliding mode control law is proposed for leader-follower
based formation control of multiple nonholnomic mobile robots. The radial basis function neural network
( RBFNN) was introduced to approximate the nonlinear uncertain part of dynamics of the follower and its
leader,and the adaptive robust controller compensated modeling errors of uncertainties by neural network.
The results show that this approach not only solves parameter and non-parameter uncertainties of
mobile robots,but also ensures the desired trajectory tracking of robot formation in the case of maintaining
formation. The stability of the control system was proved by using the Lyapunov theory.

References:

Memo

Memo:
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Last Update: 2014-11-25