Leader-follower Formation Control of Mobile Robots with Sliding Mode

DOI

10.2991/jrnal.2017.4.1.3How to use a DOI?

Keywords

nonholonomic mobile robot, leader-follower, formation control, sliding mode, continuous reaching law.

Abstract

This paper considers the formation control of nonholonomic mobile robots. The formation problem is converted to the error model based on the leader-follower structure. A sliding mode controller, which is proved to be globally finite-time stable by Lyapunov stability theory, is presented in this study. In addition, a continuous reaching law is designed to reduce the chattering which caused by the computation time delays and limitations of control. Simulation results verify the feasibility and effectiveness of the control strategy.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Wenhao Zheng
AU  - Yingmin Jia
PY  - 2017
DA  - 2017/06/01
TI  - Leader-follower Formation Control of Mobile Robots with Sliding Mode
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 10
EP  - 13
VL  - 4
IS  - 1
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2017.4.1.3
DO  - 10.2991/jrnal.2017.4.1.3
ID  - Zheng2017
ER  -