Fuzzy Sliding-Mode Consensus Formation Control of Networked Heterogeneous Mecanum-Wheeled Multi-Robots with Dynamic Effects

摘要

This paper presents a fuzzy sliding-mode cooperative consensus formation control method for networked heterogeneous Mecanum-wheeled multi-robots with dynamic effects. The formation system is composed of three kinds of uncertain Mecanum-wheeled mobile robots (MWMRs) and the communication network is modeled as a directed graph. The dynamic behavior of each kind of uncertain MWMR is modelled by an uncertain second-order dynamic model in a unified framework. By using the Lyapunov stability theory and fuzzy sliding-mode control approach, a fuzzy sliding-mode leader-follower consensus formation control law is presented to carry out formation control in presence of model and parameter uncertainties. Two computer simulations are performed to illustrate the effectiveness and merits of the proposed method.