TY - JOUR
T1 - Fuzzy sliding-mode formation control for multirobot systems
T2 - Design and implementation
AU - Chang, Yeong Hwa
AU - Chang, Chia Wen
AU - Chen, Chun Lin
AU - Tao, Chin Wang
PY - 2012/4
Y1 - 2012/4
N2 - This paper mainly addresses the decentralized formation problems for multiple robots, where a fuzzy sliding-mode formation controller (FSMFC) is proposed. The directed networks of dynamic agents with external disturbances and system uncertainties are discussed in consensus problems. To perform a formation control and to guarantee system robustness, a novel formation algorithm combining the concepts of graph theory and fuzzy sliding-model control is presented. According to the communication topology, formation stability conditions can be determined so that an FSMFC can be derived. By Lyapunov stability theorem, not only the system stability can be guaranteed, but the desired formation pattern of a multirobot system can be also achieved. Simulation results are provided to demonstrate the effectiveness of the provided control scheme. Finally, an experimental setup for the e-puck multirobot system is built. Compared to first-order formation algorithm and fuzzy neural network formation algorithm, it shows that real-time experimental results empirically support the promising performance of desire.
AB - This paper mainly addresses the decentralized formation problems for multiple robots, where a fuzzy sliding-mode formation controller (FSMFC) is proposed. The directed networks of dynamic agents with external disturbances and system uncertainties are discussed in consensus problems. To perform a formation control and to guarantee system robustness, a novel formation algorithm combining the concepts of graph theory and fuzzy sliding-model control is presented. According to the communication topology, formation stability conditions can be determined so that an FSMFC can be derived. By Lyapunov stability theorem, not only the system stability can be guaranteed, but the desired formation pattern of a multirobot system can be also achieved. Simulation results are provided to demonstrate the effectiveness of the provided control scheme. Finally, an experimental setup for the e-puck multirobot system is built. Compared to first-order formation algorithm and fuzzy neural network formation algorithm, it shows that real-time experimental results empirically support the promising performance of desire.
KW - Formation control
KW - fuzzy sliding-mode control
KW - multirobot systems
UR - https://www.scopus.com/pages/publications/84859009611
U2 - 10.1109/TSMCB.2011.2167679
DO - 10.1109/TSMCB.2011.2167679
M3 - 文章
AN - SCOPUS:84859009611
SN - 1083-4419
VL - 42
SP - 444
EP - 457
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 2
M1 - 6046141
ER -