Robust formation control of electrically driven nonholonomic mobile robots via sliding mode technique

Bong Seok Park, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

15 Citations (Scopus)

Abstract

This paper proposes a sliding mode formation control method for electrically driven nonholonomic mobile robots in the presence of model uncertainties and disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. Unlike many researches considering only the kinematic model, we also consider the dynamic model including actuator dynamics to obtain the voltage input because it is more realistic to use the voltage as input than the velocity. Then, the sliding mode control method is used to deal with model uncertainties and disturbances acting on the mobile robots. The stability of the proposed control system is proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the performance of the proposed control system.

Original languageEnglish
Pages (from-to)888-894
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Volume9
Issue number5
DOIs
Publication statusPublished - 2011 Dec 1

Fingerprint

Mobile robots
Kinematics
Control systems
Electric potential
Sliding mode control
Dynamic models
Actuators
Robots
Computer simulation
Uncertainty

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

Cite this

@article{ab42dec9ec674ab6bf1cb0b07d91691a,
title = "Robust formation control of electrically driven nonholonomic mobile robots via sliding mode technique",
abstract = "This paper proposes a sliding mode formation control method for electrically driven nonholonomic mobile robots in the presence of model uncertainties and disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. Unlike many researches considering only the kinematic model, we also consider the dynamic model including actuator dynamics to obtain the voltage input because it is more realistic to use the voltage as input than the velocity. Then, the sliding mode control method is used to deal with model uncertainties and disturbances acting on the mobile robots. The stability of the proposed control system is proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the performance of the proposed control system.",
author = "Park, {Bong Seok} and Park, {Jin Bae} and Choi, {Yoon Ho}",
year = "2011",
month = "12",
day = "1",
doi = "10.1007/s12555-011-0509-4",
language = "English",
volume = "9",
pages = "888--894",
journal = "International Journal of Control, Automation and Systems",
issn = "1598-6446",
publisher = "Institute of Control, Robotics and Systems",
number = "5",

}

Robust formation control of electrically driven nonholonomic mobile robots via sliding mode technique. / Park, Bong Seok; Park, Jin Bae; Choi, Yoon Ho.

In: International Journal of Control, Automation and Systems, Vol. 9, No. 5, 01.12.2011, p. 888-894.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Robust formation control of electrically driven nonholonomic mobile robots via sliding mode technique

AU - Park, Bong Seok

AU - Park, Jin Bae

AU - Choi, Yoon Ho

PY - 2011/12/1

Y1 - 2011/12/1

N2 - This paper proposes a sliding mode formation control method for electrically driven nonholonomic mobile robots in the presence of model uncertainties and disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. Unlike many researches considering only the kinematic model, we also consider the dynamic model including actuator dynamics to obtain the voltage input because it is more realistic to use the voltage as input than the velocity. Then, the sliding mode control method is used to deal with model uncertainties and disturbances acting on the mobile robots. The stability of the proposed control system is proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the performance of the proposed control system.

AB - This paper proposes a sliding mode formation control method for electrically driven nonholonomic mobile robots in the presence of model uncertainties and disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. Unlike many researches considering only the kinematic model, we also consider the dynamic model including actuator dynamics to obtain the voltage input because it is more realistic to use the voltage as input than the velocity. Then, the sliding mode control method is used to deal with model uncertainties and disturbances acting on the mobile robots. The stability of the proposed control system is proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the performance of the proposed control system.

UR - http://www.scopus.com/inward/record.url?scp=84862962727&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84862962727&partnerID=8YFLogxK

U2 - 10.1007/s12555-011-0509-4

DO - 10.1007/s12555-011-0509-4

M3 - Article

AN - SCOPUS:84862962727

VL - 9

SP - 888

EP - 894

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

SN - 1598-6446

IS - 5

ER -