Terminal sliding mode formation control of uncertain multiple robots
by Jinrong Guo; Dianwei Qian
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 6, No. 2/3, 2015

Abstract: The formation control problem of multiple non-holonomic two-wheeled robots is considered in this paper. Since the terminal sliding mode (TSM) control approach can eliminate the reaching phase, such an approach is characterised as a novel option to cope with the mismatched uncertainties rooted in the robots. Taking the uncertain factors into accounts, such as parameter fluctuations in practice, skidding as well as slipping triggered by hostile environment, a complete dynamic model is established primarily. Combined with the leader-follower-based formation mechanism, a TSM controller is developed to guarantee the system stability in the sliding-mode stage according to the Lyapunov direct method. A sufficient condition is also proven to make the stable tracking errors converge to zero in finite time. To verify the validity and robustness of the presented TSM controller, a simulation platform composed of three robots in the presence of mismatched uncertainties is built up. The simulation results by the platform illustrate the TSM controller can form up and maintain the multi-robot system in a predefined trajectory while resisting the mismatched uncertainties.

Online publication date: Mon, 20-Jul-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com