Sliding Mode Formation Control of Nonholonomic Robots

Xiang Gao,Qiuju Huang,Ming Wan,Chunxiang Liu

AICI), 2010 International Conference（2010）

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摘要

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.

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关键词

distance-angle control,nonholonomic robot formation control,leader move,asymptotic stability,time-varying systems,sliding mode formation control,nonholonomic robot,asymptotically stabilized robot,formation control,mobile robots,multi-robot systems,certain formation,time-varying expected formation,nonholonomic robots,mode surface function,stable robot formation,leader-follower,specified distance,sliding-mode control strategy,kinematic equation,position control,variable structure systems,time varying expected formation,sliding-mode control,trajectory,sliding mode control,lead,robot kinematics

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