Fuzzy Sliding-Mode Formation Control for Multi-Robot Dynamic Systems with Switching Topologies and Time Delays

This project consists of the second and third year terms of a three-year term project, where the cooperative control of a multi-robot dynamic system is constructed. In the control algorithms, according to the kinematics and dynamics of wheeled robots, the fuzzy sliding-mode formation controller will be designed to achieve the consensus on both position and velocity. As for the communication topology, switching topology, time delay, and state estimation will be considered so that the conditions for the existence of consensus will be addressed. In addition, based on the concept of weighted topologies, a distributed consensus protocol will be designed to overcome the problems of collision avoidance and constrained inputs. The relationship between the constraints and the controller parameters will be one of the main concerns. An embedded system based mobile robot platform will be implemented for the validation of proposed control algorithms. The self-developed robot platform includes the embedded kernel, versatile sensor modules, and Zigbee communication modules. The outcomes of this project including the controller design and experimental development should be helpful in the progress of cooperative multi-robot systems.

Project ID:PB10108-2786
External Project ID:NSC101-2221-E182-041-MY2