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http://dx.doi.org/10.7746/jkros.2017.12.3.339

Finite-Time Sliding Mode Controller Design for Formation Control of Multi-Agent Mobile Robots  

Park, Dong-Ju (Electronic Engineering, Pusan National University)
Moon, Jeong-Whan (Electronic Engineering, Pusan National University)
Han, Seong-Ik (Mechanical Engineering, Pusan National University)
Publication Information
The Journal of Korea Robotics Society / v.12, no.3, 2017 , pp. 339-349 More about this Journal
Abstract
In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.
Keywords
Distributed Multi-agent System Mobile Robot; Kinetic/Dynamic Control; Formation Control; Finite-time Sliding Mode Control;
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