Izvorni znanstveni članak
https://doi.org/10.7305/automatika.2017.12.1637
Robust Multi-robot Formations via Sliding Mode Controller and Fuzzy Compensator
Dianwei Qian
; North China Electric Power University, School of Control and Computer Engineering, No. 2 Beinong Road, Changping District, Beijing, P.R. China
Shiwen Tong
; Beijing Union University, College of Automation, No. 97 Beisihuan Donglu, Chaoyang District, Beijing 100101, P.R. China
Chang Xu
; Hohai University, College of Energy and Electricity, No. 1 Xikang Road, Gulou District, Nanjing 210098, China
Sažetak
To form up a multiple-robot system, a robust adaptive control scheme is addressed. The control scheme is based on the methodology of sliding mode control (SMC). The formation system is leader-follower-based, whose dynamics are subject to uncertainties. A fuzzy compensator is adopted to approximate the uncertainties. To attenuate the approximation error, a robust adaptive law of the fuzzy compensator is introduced. In the sense of Lyapunov, not only such a control scheme can asymptotically stabilize the whole formation system, but also the convergence of the approximation error can be guaranteed. Compared with the sole sliding mode controller without compensator, some numerical simulations verify the feasibility and effectiveness of the control scheme for the multiple-robot system in the presence of uncertainties.
Ključne riječi
Multiple-robot system; Sliding mode; Leader-follower formation; Uncertainties; Fuzzy compensator
Hrčak ID:
196195
URI
Datum izdavanja:
19.1.2018.
Posjeta: 903 *