Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems

Teh Lu Liao, Jun Juh Yan, Wei Shou Chan

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號061008
期刊Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
139
發行號6
DOIs
出版狀態Published - 2017 6月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 資訊系統
  • 儀器
  • 機械工業
  • 電腦科學應用

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