Leader-follower Formation Control of Mobile Robots with Sliding Mode

Abstract

This paper considers the formation control of nonholonomic mobile robots. The formation problem is converted to the error model based on the leader-follower structure. A sliding mode controller, which is proved to be globally finite-time stable by Lyapunov stability theory, is presented in this study. In addition, a continuous reaching law is designed to reduce the chattering which caused by the computation time delays and limitations of control. Simulation results verify the feasibility and effectiveness of the control strategy.