Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems

Teh Lu Liao; Jun Juh Yan; Wei Shou Chan

doi:10.1115/1.4035614

Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems

Teh Lu Liao, Jun Juh Yan, Wei Shou Chan

Department of Engineering Science

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

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
Article number	061008
Journal	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume	139
Issue number	6
DOIs	https://doi.org/10.1115/1.4035614
Publication status	Published - 2017 Jun 1

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Information Systems
Instrumentation
Mechanical Engineering
Computer Science Applications

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