LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

Leader–Follower Formation Maneuvers for Multi-Robot Systems via Derivative and Integral Terminal Sliding Mode

Photo by richardrschunemann from unsplash

This paper investigates the formation problem of multiple robots based on the leader–follower mechanism. At first, the dynamics of such a leader–follower framework are modeled. The input–output equations are depicted… Click to show full abstract

This paper investigates the formation problem of multiple robots based on the leader–follower mechanism. At first, the dynamics of such a leader–follower framework are modeled. The input–output equations are depicted by calculating the relative degree of a leader–follower formation system. Furthermore, the derivative and integral terminal sliding mode controller is designed based on the relative degree. Since the formation system suffers from uncertainties, the nonlinear disturbance observer is adopted to deal with the uncertainties. The stability of the closed-loop control system is proven in the sense of Lyapunov. Finally, some numerical simulations are displayed to verify the feasibility and effectiveness by the designed controller and observer.

Keywords: derivative integral; leader follower; formation; follower formation; integral terminal

Journal Title: Applied Sciences
Year Published: 2018

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.