Robust Formation of Mobile Robots with Synchronization Using Fractional Order Sliding Modes

摘要

A fractional order sliding mode controller is presented for the formation with synchronization of a group of (2,0) differential mobile robots in the presence of uncertainties. Based on previous fractional order schemes, a sliding mode controller is proposed so that a group of mobile robots can follow a given trajectory while keeping the formation with synchronization. A sufficient condition is given to assure the existence of the sliding mode. Also, experimental results are given.