FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE

Razvan Solea, Daniela Cernega, Adrian Filipescu, Adriana Serbencu

2010

Abstract

This paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control laws has been proved by simulation on different situations.

References

  1. Chwa, D. (2004). Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates. IEEE Transactions on Control, 12(4):637-644.
  2. Das, A., Fierro, R., Kumar, V., Ostrowski, J., Spletzer, J., and Taylor, C. (2002). A vision-based formation control framework. IEEE Transactions on Robotics and Automation, 18(5):813-825.
  3. Floquet, T., Barbot, J. P., and Perruquetti, W. (2003). Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems. Automatica, 39(6):1077-1083.
  4. Gao, W. and Hung, J. C. (1993). Variable structure control of nonlinear systems: A new approach. IEEE Transactions on Industrial Electronics, 40(1):45-55.
  5. Klanc?ar, G., Matko, D., and Blaz?ic?, S. (2009). Wheeled mobile robots control in a linear platoon. Journal of Intelligent and Robotic Systems, 54(5):709-731.
  6. Liu, S.-C., Tan, D.-L., and Liu, G.-J. (2007). Robust leaderfollower formation control of mobile robots based on a second order kinematics model. Acta Automatica Sinica, 33(9):947-955.
  7. Mazo, M., Speranzon, A., Johansson, K., and Hu, X. (2004). Multi-robot tracking of a moving object using directional sensors. In IEEE International Conference on Robotics and Automation, ICRA 7804, volume 2, pages 1103-1108.
  8. Murray, R. M. (2007). Recent research in cooperative control of multi-vehicle systems. Journal of Dynamic Systems, Measurement, and Control, 129(5):571-583.
  9. Slotine, J. J. E. and Li, W. (1991). Applied Nonlinear Control. Prentice-Hall.
  10. Solea, R. and Cernega, D. (2009). Sliding mode control for trajectory tracking problem - performance evaluation. In Lecture Notes in Computer Science, Springer, volume 5769, pages 865-874.
  11. Solea, R. and Nunes, U. (2007). Trajectory planning and sliding-mode control based trajectory-tracking for cybercars. Aided Engineering, IOS Press, 14(1):33-47.
  12. Yang, J.-M. and Kim, J.-H. (1999). Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots. IEEE Transactions on Robotics and Automation, 15(3):578-587.
  13. Zavlanos, M. M. and Pappas, G. J. (2008). Dynamic assignment in distributed motion planning with local coordination. IEEE Transactions on Robotics, 24(1):232- 242.
Download


Paper Citation


in Harvard Style

Solea R., Cernega D., Filipescu A. and Serbencu A. (2010). FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 161-166. DOI: 10.5220/0002899501610166


in Bibtex Style

@conference{icinco10,
author={Razvan Solea and Daniela Cernega and Adrian Filipescu and Adriana Serbencu},
title={FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={161-166},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002899501610166},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE
SN - 978-989-8425-01-0
AU - Solea R.
AU - Cernega D.
AU - Filipescu A.
AU - Serbencu A.
PY - 2010
SP - 161
EP - 166
DO - 10.5220/0002899501610166