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Formation control of multi-robot via integral sliding mode
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.
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