Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems

被引：4

作者：

Liao, Teh-Lu ^{[1
]}

Yan, Jun-Juh ^{[2
]}

Chan, Wei-Shou ^{[3
]}

机构：

[1] Natl Cheng Kung Univ, Dept Elect Engn, Tainan 70101, Taiwan

[2] Shu Te Univ, Dept Comp & Commun, Kaohsiung 82445, Taiwan

[3] Natl Chung Shan Inst Sci & Technol, Mat & Elect Opt Res Div, Taoyuan 32546, Taiwan

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2017年 / 139卷 / 06期

关键词：

MULTIAGENT SYSTEMS; SWITCHING TOPOLOGY; CONSENSUS; NETWORKS;

D O I：

10.1115/1.4035614

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 presents a distributed formation control for multirobot dynamic systems with external disturbances and system uncertainties. First from the Lagrangian analysis, the dynamic model of a wheeled mobile robot can be derived. Then, the robust distributed formation controller is proposed based on sliding-mode control, consensus algorithm, and graph theory. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov stability theorem. From the simulation results, the proposed approach provides better formation responses compared to consensus algorithm.

引用

页数：7

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