Formation control of multi-robot via integral sliding mode

被引：0

作者：

Qian D.-W. ^{[1
]}

Guo J.-R. ^{[1
]}

机构：

[1] School of Control and Computer Engineering, North China Electric Power University, Beijing

来源：

Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2016年 / 20卷 / 01期

关键词：

Formation control; Integral sliding mode; Leader-follower; Mismatched uncertainties; Multi-robot;

D O I：

10.15938/j.emc.2016.01.015

中图分类号：

学科分类号：

摘要：

A group of nonholonomic two-wheeled mobile robots were studied. The method of integral sliding mode control (ISMC) was investigated for the formation problem of the group of robots with mismatched 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 stable 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. © 2016, Editorial Department of Electric Machines and Control. All right reserved.

引用

页码：99 / 104

页数：5

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