Second-Order Sliding Mode Control for Nonholonomic Mobile Robots Formation
In this paper,we propose decentralized nonholonomic algorithms for mobile robots formation control via secondorder sliding mode control. The problem of formation control is solved by keeping separated distances and bearing desired angles between the leader robot and follower robots. Stability of the orientation of the follower robots is achieved by means of a (l. ψ)-based algorithm. We also develop a (l. l)-based algorithm to control the distances between the leader and followers for a formation. The proposed controllers are smooth,continuous,and robust against unknown bounded sensor installation errors. An illustrative example is presented to verify the effectiveness of the approach.
SHEN Dongbin SUN Zhendong QIAO Yupeng
SCUT-CUHK Joint Center for Automation Science and Engineering,South China University of Technology,Guangzhou 510460,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）