A finite-time approach to formation control of multiple mobile robots with terminal sliding mode

被引：63
|
作者：
Zhao, Dongya [1 ]
Zou, Tao [2 ]
机构：
[1] China Univ Petr, Coll Mech & Elect Engn, Dongying 257061, Peoples R China
[2] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou 310023, Peoples R China
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2012年 / 43卷 / 11期
基金：
国家高技术研究发展计划(863计划);
关键词：
terminal sliding mode; finite-time stability; formation control; multiple mobile robots; synchronisation; POSITION SYNCHRONIZATION; MOTION AXES; STABILIZATION; SYSTEMS; MANIPULATORS; ARCHITECTURE; NAVIGATION; CONSENSUS; VEHICLES; FEEDBACK;
D O I：
10.1080/00207721.2011.564323
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, a new finite-time synchronised approach is developed for multiple mobile robots formation control based on terminal sliding mode control principle and system synchronisation theory. Associated stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems. An illustrative example of multiple mobile robots formation control is bench tested to validate the effectiveness of the proposed approach.
引用
收藏
页码：1998 / 2014
页数：17
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