Sliding Mode Formation Control of Nonholonomic Robots

Abstract

This paper discusses a method of nonholonomic robot formation control based on leader-follower. The leader moves along a designated trajectory, the follower keeps a specified distance and angle when following the leader so as to keep a certain formation. Sliding-mode control strategy is introduced in, the sliding mode surface functions are designed to make robots asymptotically stabilize to a time-varying expected formation. Thus a more stable robot formation is made.