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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Vydáno v:	IEEE transactions on industrial electronics (1982) Ročník 55; číslo 11; s. 3944 - 3953
Hlavní autoři:	Defoort, M., Floquet, T., Kokosy, A., Perruquetti, W.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.11.2008 The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Témata:	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
On-line přístup:	Získat plný text
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