In this paper, a decentralized formation control based on adaptive super-twisting algorithm (ASTA) is designed for a group of unicycle mobile robots. According to this approach, movements of robots are driven through a sequence of formation patterns. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Furthermore, a high-order differentiator is designed to estimate unmeasurable signals, in order to implement the proposed controller. Finally, simulation results illustrate the effectiveness of the proposed control scheme.
Decentralized Formation Control Based on Adaptive Super Twisting
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 29, 2015; final manuscript received October 26, 2016; published online February 13, 2017. Assoc. Editor: Jongeun Choi.
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Hernández-Alemán, R., Salas-Peña, O., and De León-Morales, J. (February 13, 2017). "Decentralized Formation Control Based on Adaptive Super Twisting." ASME. J. Dyn. Sys., Meas., Control. April 2017; 139(4): 044502. https://doi.org/10.1115/1.4035170
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