| Title: | OS14-3 Leader-follower Formation Control of Mobile Robots with Sliding Mode |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 9-12 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS14-3 |
| Author(s): | Wenhao Zheng, Yingmin Jia |
| Publication Date: | January 19, 2017 |
| 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. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS14/OS14-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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