TY - JOUR
T1 - Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems
AU - Liao, Teh Lu
AU - Yan, Jun Juh
AU - Chan, Wei Shou
N1 - Funding Information:
This work was supported in part by the Ministry of Science and Technology, Taiwan, under Grant No. MOST 103-2221-E-006-186-MY2 and the NCKU's "Aim for the Top University Project," National Cheng Kung University, Taiwan, under Grant No. HUA104-3-3-111.
Publisher Copyright:
Copyright © 2017 by ASME.
PY - 2017/6/1
Y1 - 2017/6/1
N2 - 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.
AB - 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.
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U2 - 10.1115/1.4035614
DO - 10.1115/1.4035614
M3 - Article
AN - SCOPUS:85018502701
VL - 139
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
SN - 0022-0434
IS - 6
M1 - 061008
ER -