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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Veröffentlicht in:IEEE transactions on industrial electronics (1982) Jg. 55; H. 11; S. 3944 - 3953
Hauptverfasser: Defoort, M., Floquet, T., Kokosy, A., Perruquetti, W.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.11.2008
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Schlagworte:
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
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Beschreibung
Zusammenfassung: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-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy.
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2008.2002717