Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems

Teh Lu Liao, Jun Juh Yan, Wei Shou Chan

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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 languageEnglish
Article number061008
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number6
Publication statusPublished - 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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