A mapping leader formation control strategy for multiple mobile robots based on two-stage sliding mode control

被引：0
|
作者：
Wang C. [1 ]
Yang L. [1 ]
Li Y. [1 ]
机构：
[1] School of Automation Science and Electrical Engineering, Beihang University, Beijing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2023年 / 49卷 / 11期
基金：
中国国家自然科学基金;
关键词：
coordinate transformation; formation control; leader-follower strategy; sliding mode control; wheeled mobile robot;
D O I：
10.13700/j.bh.1001-5965.2021.0792
中图分类号：
学科分类号：
摘要：
The formation control for multiple mobile robots under low communication load is investigated. A kinematics model of the nonholonomic constrained wheeled mobile robot is defined by coordinate transformation and the introduction of side slipping increment, which explicitly satisfies the pure rolling condition. By using the leader-follower strategy, system formation is converted into distributed consensus control under the new model through the one-way communication of leader to follower and the plan of a mapping leader. A two-stage exponential reaching sliding mode controller is designed for the angular and linear velocity of the follower to rapidly achieve convergence relative to the leader’s trajectory error, and the stability of the controller is then proved by Lyapunov theory. Numerical simulation studies show that the formation control strategy proposed in this paper can satisfy the task requirements of formation maintenance and formation transformation of multi-mobile robots, verifying the correctness and effectiveness of the theoretical analysis. © 2023 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
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页码：3108 / 3114
页数：6
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