Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems

被引：4
|
作者：
Liao, Teh-Lu [1 ]
Yan, Jun-Juh [2 ]
Chan, Wei-Shou [3 ]
机构：
[1] Natl Cheng Kung Univ, Dept Elect Engn, Tainan 70101, Taiwan
[2] Shu Te Univ, Dept Comp & Commun, Kaohsiung 82445, Taiwan
[3] Natl Chung Shan Inst Sci & Technol, Mat & Elect Opt Res Div, Taoyuan 32546, Taiwan
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2017年 / 139卷 / 06期
关键词：
MULTIAGENT SYSTEMS; SWITCHING TOPOLOGY; CONSENSUS; NETWORKS;
D O I：
10.1115/1.4035614
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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收藏
页数：7
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