Adaptive sliding-mode formation control and collision avoidance for multi-agent nonholonomic mobile robots with model uncertainty and disturbance

Bong Seok Park, Jin Bae Park

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish
Pages (from-to)1038-1043
Number of pages6
JournalJournal of Institute of Control, Robotics and Systems
Volume16
Issue number11
DOIs
Publication statusPublished - 2010 Nov 1

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Formation Control
Collision Avoidance
Nonholonomic
Model Uncertainty
Collision avoidance
Sliding Mode Control
Mobile Robot
Mobile robots
Disturbance
Control System
Control systems
Simulation
Uncertainty

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Cite this

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