Comments on “Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots”

Abstract

One of the formation schemes in multirobot systems is named as the leader–follower scheme. Dynamic equations based on the scheme are formulated for multirobot systems with uncertainties by Defoort <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">et al.</i> ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">IEEE Trans. Ind. Electron.</i> vol. 55, no. 11, pp. 3944–3953, Nov. 2008). This paper focuses on the equations, clarifies their drawbacks, and revisits the modeling of the leader–follower formation scheme for multirobot systems with uncertainties.