Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a time-va...

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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 55; no. 11; pp. 3944 - 3953
Main Authors:	Defoort, M., Floquet, T., Kokosy, A., Perruquetti, W.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.11.2008 The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Subjects:	Asymptotic properties Automatic Control Engineering Autonomous Computer Science Controllers Formation control Mobile robots Motion control Motion estimation Motion measurement nonholonomic mobile robots Remotely operated vehicles Robot control Robots robust control second-order sliding mode Sliding mode control Stabilization State estimation Strategy Vehicles Velocity control Velocity measurement Vision systems
ISSN:	0278-0046, 1557-9948
Online Access:	Get full text
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