Sliding Mode Control for Multi-robot Formation

摘要

This paper investigated the formation control of multi-mobile robots under the environment without obstacles, the feedback linearization is used for the robot, a nonlinear sliding mode controller is proposed in accordance with multi-robot system to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. A prescribed trajectory is followed by using sliding mode control approaches, We prove theoretically that under certain reasonable assumptions the formation is asymptotically stable, that is, the proposed sliding mode controller can asymptotically stabilize the formation. The simulation results verify the effectiveness of the control laws.