Sliding Mode Control of Multi-Robot Deployment An Adaptive Interval Type-2 Fuzzy Approach

In multi agent systems, a set of intelligent agents try to cooperate with each others for performing a desired task. In this paper, an adaptive fuzzy controller is proposed based on social potential functions to control and stabilize a robotic swam (i.e. a group of simple mobile robots with limited capabilities). All robots are assumed to have unknown nonlinear dynamics and the main goal of the robotic swarm is defined as shaping a desired deployment. At first, a fuzzy approximator is designed to identify the robots unknown dynamic model, in which interval type-2 fuzzy systems are exploited for more effective approximation in presence of uncertainties and noise. Afterward based on sliding mode control theory, robots are forced to form a desired polygonal deployment in a 2D or 3D space. A Lyapunov-like function is utilized to prove the stability of proposed controller and simulation results illustrate the effectiveness of the proposed method