Abstract
This article presents a distributed control of unicycle mobile robots for the leader-follower configuration while maintaining a specific geometric distribution in the horizontal plane. The proposed control algorithm facilitates the formation of the follower robots with respect to the leader by using a quasi-sliding mode. The technique uses a pair of sliding variables, and the proposed controller guarantees the convergence of the sliding variables to a region close to zero. The particular formulation of these sliding variables ensures that their convergence to a bounded region around zero, provides asymptotic convergence of the formation errors towards a bounded region around the origin.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Memorias del Congreso Nacional de Control Automático
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.