Title :
Integral terminal sliding mode cooperative control of multi-robot networks
Author :
Khoo, S. ; Xie, L. ; Man, Z.
Author_Institution :
Sch. of Eng., Deakin Univ., Burwood, VIC, Australia
Abstract :
This paper studies the integral terminal sliding mode cooperative control of multi-robot networks. Here, we first propose an integral terminal sliding mode surface for a class of first order systems. Then, we prove that finite time consensus tracking of multi-robot networks can be achieved on this integral terminal sliding mode surface. Simulation results are presented to validate the analysis.
Keywords :
Lyapunov methods; convergence; directed graphs; multi-robot systems; nonlinear systems; tracking; variable structure systems; cooperative control; finite time consensus tracking; finite-time convergence; integral terminal sliding mode; multi-robot networks; sliding mode control; Communication system control; Control design; Control systems; Convergence; Graph theory; Mobile communication; Multirobot systems; Robot kinematics; Robust control; Sliding mode control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229712
