Fuzzy Sliding-Model Formation Control of Multi-Robot Systems with Switching Topologies and Time-Delays

This is a two-year term project, where the cooperative control of a multi-robot system is addressed with the fuzzy sliding-mode theorem and consensus algorithm. The fuzzy sliding-mode formation controller will be designed, and the developed algorithms will be implemented in a multi-robot control system. The main subjects in this project include the development of formation control theorems and the implementation of multiple mobile robots. In the study of cooperative theorems, it is mainly desired to derive the necessary conditions for the parameters of fuzzy sliding-mode controllers along with the given consensus algorithm. The double-integrator dynamic model of mobile robots will be considered instead of the conventional single-integrator one. The considerations of dynamically switching topology and time delay are of particular interest in the stability analysis. 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 control theorem design and the experimental platform development should be helpful in the advancement of cooperative multi-robot systems.

Project ID:PB10007-7278
External Project ID:NSC100-2221-E182-013