Abstract
This paper focuses on the design of a formation controller for multi-robot dynamic systems using adaptive fuzzy sliding-mode techniques. From the Lagrangian analysis, the dynamic model of a differential wheeled robot can be obtained. A fuzzy sliding- mode controller is derived for leader-follower formation control based on graph theory and consensus algorithm. Moreover, an adaptive law is provided to estimate the bounds of unknown uncertainties. Both simulation and experimental results are applied to validate the formation performance. It is indicated that the proposed adaptive control scheme can provide better leader-following formation responses of multiple mobile robots.
| Original language | English |
|---|---|
| Pages (from-to) | 121-131 |
| Number of pages | 11 |
| Journal | International Journal of Fuzzy Systems |
| Volume | 16 |
| Issue number | 1 |
| State | Published - 03 2014 |
Keywords
- Formation control
- Fuzzy sliding control
- Lagrange equation
- Multi-robot system