Disturbance observer–based super-twisting sliding mode control for formation tracking of multi-agent mobile robots

摘要

This paper presents a super-twisting sliding mode control method for the formation maneuvers of multiple robots. In the real world of applications, the robots suffer from many uncertainties and disturbances that trouble the super-twisting sliding mode formation maneuvers very much. Especially, this issue has the adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of disturbance observer to meet this challenge. In terms of the leader–follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the disturbance observer technique. This kind of formation design has the guaranteed closed-loop stability in the sense of Lyapunov. Some simulations are implemented through a multi-robot platform. The results demonstrate that the superiority of the formation design regardless of uncertainties and disturbances.