Sliding Mode Formation Control of Nonholonomic Robots

Author

Gao, Xiang ; Huang, Qiuju ; Wan, Ming ; Liu, Chunxiang

Author_Institution

Test Meas. Technol. & Instrum., Nanjing Univ. of Posts & Telecommun., Nanjing, China

Volume

1

fYear

2010

fDate

23-24 Oct. 2010

Firstpage

67

Lastpage

71

Abstract

This paper discusses a method of nonholonomic robot formation control based on leader-follower. The leader moves along a designated trajectory, the follower keeps a specified distance and angle when following the leader so as to keep a certain formation. Sliding-mode control strategy is introduced in, the sliding mode surface functions are designed to make robots asymptotically stabilize to a time-varying expected formation. Thus a more stable robot formation is made.

Keywords

asymptotic stability; mobile robots; multi-robot systems; position control; time-varying systems; variable structure systems; asymptotically stabilized robot; leader-follower; nonholonomic robot; sliding mode formation control; stable robot formation; time varying expected formation; Collision avoidance; Lead; Mobile robots; Robot kinematics; Sliding mode control; Trajectory; Distance-Angle Control; Formation Control; Kinematic Equation; Leader-Follower; Sliding-Mode Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Artificial Intelligence and Computational Intelligence (AICI), 2010 International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-8432-4

Type

conf

DOI

10.1109/AICI.2010.21

Filename

5656594