Abstract
This paper focuses on the design of a formation controller for multi-robot dynamic systems using interval fuzzy sliding-mode algorithm. The objective of formation control is to have all robots simultaneously achieve the tracking task with the desired pattern. An interval fuzzy sliding-mode formation controller is proposed to deal with the formation control of multi-robot systems in which the system uncertainties and measured noise are considered. To reduce the computational complexity of a type-reducer, the end points of a type-reduced centroid are approximated by the outputs of two standard fuzzy sliding mechanisms in the proposed interval fuzzy sliding controller. Simulation results are indicated to show the effectiveness of the proposed interval fuzzy sliding-mode consensus controller.
| Original language | English |
|---|---|
| Pages (from-to) | 4045-4054 |
| Number of pages | 10 |
| Journal | Soft Computing |
| Volume | 21 |
| Issue number | 14 |
| DOIs | |
| State | Published - 01 07 2017 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2016, Springer-Verlag Berlin Heidelberg.
Keywords
- Formation control
- Interval type-2 fuzzy control
- Multi-robot system
- Sliding-mode control