The server is under maintenance between 08:00 to 12:00 (GMT+08:00), and please visit later.
We apologize for any inconvenience caused
Login  | Sign Up  |  Oriprobe Inc. Feed
China/Asia On Demand
Journal Articles
Laws/Policies/Regulations
Companies/Products
Bookmark and Share
Formation control of multi-robot via integral sliding mode
Author(s): 
Pages: 99-104
Year: Issue:  1
Journal: Electric Machines and Control

Keyword:  multi-robotleader-followerformation controlmismatched uncertaintiesintegral sliding mode;
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.
Related Articles
No related articles found