Original scientific paper

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

Abstract

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.

Keywords

Multiple-robot system; Sliding mode; Leader-follower formation; Uncertainties; Fuzzy compensator

Hrčak ID:

196195

URI

https://hrcak.srce.hr/196195

Publication date:

19.1.2018.

Article data in other languages: croatian

Visits: 1.339 *