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.
Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 4, 2015; final manuscript received December 21, 2016; published online April 13, 2017. Assoc. Editor: Azim Eskandarian.
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Liao, T., Yan, J., and Chan, W. (April 13, 2017). "Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems." ASME. J. Dyn. Sys., Meas., Control. June 2017; 139(6): 061008. https://doi.org/10.1115/1.4035614
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