Abstract
This paper presents a distributed formation control for multirobot dynamic systems with external disturbances and system uncertainties. First from the Lagrangian analysis, the dynamic model of a wheeled mobile robot can be derived. Then, the robust distributed formation controller is proposed based on sliding-mode control, consensus algorithm, and graph theory. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov stability theorem. From the simulation results, the proposed approach provides better formation responses compared to consensus algorithm.
Original language | English |
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Article number | 061008 |
Journal | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME |
Volume | 139 |
Issue number | 6 |
DOIs | |
Publication status | Published - 2017 Jun 1 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Information Systems
- Instrumentation
- Mechanical Engineering
- Computer Science Applications