TY - JOUR
T1 - Adaptive sliding-mode formation control and collision avoidance for multi-agent nonholonomic mobile robots with model uncertainty and disturbance
AU - Park, Bong Seok
AU - Park, Jin Bae
PY - 2010/11
Y1 - 2010/11
N2 - In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.
AB - In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.
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U2 - 10.5302/J.ICROS.2010.16.11.1038
DO - 10.5302/J.ICROS.2010.16.11.1038
M3 - Article
AN - SCOPUS:84861006375
SN - 1976-5622
VL - 16
SP - 1038
EP - 1043
JO - Journal of Institute of Control, Robotics and Systems
JF - Journal of Institute of Control, Robotics and Systems
IS - 11
ER -