Adaptive sliding-mode formation control and collision avoidance for multi-agent nonholonomic mobile robots with model uncertainty and disturbance

被引：0
|
作者：
Park B.S. [1 ]
Park J.B. [1 ]
机构：
[1] Yonsei University, Korea, Republic of
来源：
Journal of Institute of Control, Robotics and Systems | 2010年 / 16卷 / 11期
关键词：
Adaptive sliding mode control; Collision avoidance; Formation control; Leader-following approach;
D O I：
10.5302/J.ICROS.2010.16.11.1038
中图分类号：
学科分类号：
摘要：
In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system. © ICROS 2010.
引用
收藏
页码：1038 / 1043
页数：5
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