Leader-follower Formation Control of Mobile Robots with Sliding Mode
- 10.2991/jrnal.2017.4.1.3How to use a DOI?
- nonholonomic mobile robot, leader-follower, formation control, sliding mode, continuous reaching law.
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.
- © 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/).
Cite this article
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 -