Decentralized Formation Control Based on Adaptive Super Twisting

被引：4

作者：

Hernandez-Aleman, Ruben ^{[1
]}

Salas-Pena, Oscar ^{[1
]}

De Leon-Morales, Jesus ^{[1
]}

机构：

[1] Autonomous Univ Nuevo Leon, Fac Mech & Elect Engn, San Nicolas De Los Garza 66455, Mexico

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2017年 / 139卷 / 04期

关键词：

FEEDBACK-CONTROL; SLIDING MODE;

D O I：

10.1115/1.4035170

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a decentralized formation control based on adaptive super-twisting algorithm ( ASTA) is designed for a group of unicycle mobile robots. According to this approach, movements of robots are driven through a sequence of formation patterns. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Furthermore, a high-order differentiator is designed to estimate unmeasurable signals, in order to implement the proposed controller. Finally, simulation results illustrate the effectiveness of the proposed control scheme.

引用

页数：6

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