Hybrid Control Structure for Multi-robot Formation

In this paper a hybrid control structure to control a multi-robot formation is proposed. The hybrid control structure consists of two control levels: the discrete control level and the continuous control level. The discrete control level ensures the supervisory control and the continuous control level ensures the trajectory tracking control. The trajectory tracking problem is solved using the sliding mode control. The syntheses of the supervisor and of the sliding mode controllers for each discrete state are presented. Simulation example is used to evaluate the sliding-mode algorithm and to show the application of the algorithm in practice. The controller is simply structured and easy to implement.