Abstract
This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.
Highlights
Today, robots are changing the way we live and work.[1]
Concerning the formation problem of an uncertain multi-robot system, this article proposes a control scheme that integrates one controller with one observer, where the controller is designed by the integral sliding mode control (SMC) method and the observer is structured by the nonlinear disturbance observer (NDO) technique
The formation uncertainties bounded by an unknown boundary trouble the formation control problem
Summary
Robots are changing the way we live and work.[1]. They free human being at dangerous places. Some SMC-based methods have been addressed to solve the formation control problem of multi-robot systems, that is, integral SMC,[5,16] first-order SMC,[17] terminal SMC,[18] second-order SMC,[19] intelligent SMC,[20,21] and so on. Concerning the formation problem of an uncertain multi-robot system, this article proposes a control scheme that integrates one controller with one observer, where the controller is designed by the integral SMC method and the observer is structured by the NDO technique. Some results are presented to demonstrate that the formation maneuvers are of asymptotic stability
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