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 Formation control of multi-robot via integral sliding mode

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

Issue:
2016年01
Page:
99-104
Research Field:
Publishing date:

Info

Title:
 Formation control of multi-robot via integral sliding mode

Author(s):
 QIAN Dian-wei GUO Jin-rong

 ( School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China)
Keywords:
multi-robot leader-follower formation control mismatched uncertainties integral sliding mode
PACS:
TP 242. 6
DOI:
10. 15938 /j. emc. 2016. 01. 015
Abstract:
 A group of nonholonomic two-wheeled mobile robots were studied. The method of integral slid-ing mode control ( ISMC) was investigated for the formation problem of the group of robots with mis-matched uncertainties. Taking the effects of uncertainties ( parameter fluctuations,skidding and slipping) into accounts,the leader-follower formation dynamic model was established on the basis of the kinematic model of a single robot. Since the mismatched uncertainties in this dynamic model cannot be suppressed by the invariance of ISMC,the formation system was theoretically proven to be locally asymptotically sta-ble in the sliding mode stage. Meanwhile,the reaching condition of sliding mode was guaranteed by the developed ISMC law. Finally,a simulation platform composed of three robots verifies the feasibility and effectiveness of the ISMC strategy applied to the mobile robot formation system.

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Last Update: 2016-03-21