@inproceedings{e782708368c642f0b673ef217a79e883,
title = "Leader-following formation control of multi-robot systems with adaptive fuzzy terminal sliding-mode controller",
abstract = "This paper focuses on the design of a formation controller for multi-robot dynamic systems using adaptive fuzzy terminal sliding-mode techniques. The dynamic model of differential wheeled robots is considered. To achieve finite time leader-follower formation control, a fuzzy terminal sliding-mode controller is derived 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 networked multiple robots.",
author = "Chang, \{Yeong Hwa\} and Yang, \{Cheng Yuan\} and Chan, \{Wei Shou\} and Chang, \{Chia Wen\} and Tao, \{Chin Wang\}",
year = "2013",
doi = "10.1109/ICSSE.2013.6614631",
language = "英语",
isbn = "9781479900091",
series = "ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings",
pages = "45--50",
booktitle = "ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings",
note = "IEEE International Conference on System Science and Engineering, ICSSE 2013 ; Conference date: 04-07-2013 Through 06-07-2013",
}