Fuzzy Sliding-Mode Formation Control for Multirobot Systems: Design and Implementation

被引：98

作者：

Chang, Yeong-Hwa ^{[1
]}

Chang, Chia-Wen ^{[1
]}

Chen, Chun-Lin ^{[1
]}

Tao, Chin-Wang ^{[2
]}

机构：

[1] Chang Gung Univ, Dept Elect Engn, Tao Yuan 333, Taiwan

[2] Natl ILan Univ, Dept Elect Engn, Ilan 260, Taiwan

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2012年 / 42卷 / 02期

关键词：

Formation control; fuzzy sliding-mode control; multirobot systems; COOPERATIVE CONTROL; MULTIAGENT; COORDINATION; INFORMATION; CONSENSUS; NETWORKS;

D O I：

10.1109/TSMCB.2011.2167679

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper mainly addresses the decentralized formation problems for multiple robots, where a fuzzy sliding-mode formation controller (FSMFC) is proposed. The directed networks of dynamic agents with external disturbances and system uncertainties are discussed in consensus problems. To perform a formation control and to guarantee system robustness, a novel formation algorithm combining the concepts of graph theory and fuzzy sliding-model control is presented. According to the communication topology, formation stability conditions can be determined so that an FSMFC can be derived. By Lyapunov stability theorem, not only the system stability can be guaranteed, but the desired formation pattern of a multirobot system can be also achieved. Simulation results are provided to demonstrate the effectiveness of the provided control scheme. Finally, an experimental setup for the e-puck multirobot system is built. Compared to first-order formation algorithm and fuzzy neural network formation algorithm, it shows that real-time experimental results empirically support the promising performance of desire.

引用

页码：444 / 457

页数：14

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