0
Technical Brief

Decentralized Formation Control Based on Adaptive Super Twisting

[+] Author and Article Information
Rubén Hernández-Alemán

Faculty of Mechanical and Electrical Engineering,
Autonomous University of Nuevo Leon,
San Nicolas de los Garza 66455, Mexico
e-mail: rhernandeza6@gmail.com

Oscar Salas-Peña

Faculty of Mechanical and Electrical Engineering,
Autonomous University of Nuevo Leon,
San Nicolas de los Garza 66455, Mexico
e-mail: salvador.sp@gmail.com

Jesús De León-Morales

Faculty of Mechanical and Electrical Engineering,
Autonomous University of Nuevo Leon,
San Nicolas de los Garza 66455, Mexico
e-mail: drjleon@gmail.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 29, 2015; final manuscript received October 26, 2016; published online February 13, 2017. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 139(4), 044502 (Feb 13, 2017) (6 pages) Paper No: DS-15-1469; doi: 10.1115/1.4035170 History: Received September 29, 2015; Revised October 26, 2016

In this paper, a decentralized formation control based on adaptive super-twisting algorithm (ASTA) is designed for a group of unicycle mobile robots. According to this approach, movements of robots are driven through a sequence of formation patterns. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Furthermore, a high-order differentiator is designed to estimate unmeasurable signals, in order to implement the proposed controller. Finally, simulation results illustrate the effectiveness of the proposed control scheme.

FIGURES IN THIS ARTICLE
<>
Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Differential-drive mobile robot

Grahic Jump Location
Fig. 7

Adaptive gains behavior

Grahic Jump Location
Fig. 6

Robot 3 control signals: (top) linear and (bottom) angular

Grahic Jump Location
Fig. 5

Robot 2 control signals: (top) linear and (bottom) angular

Grahic Jump Location
Fig. 4

Robot 1 control signals: (top) linear and (bottom) angular

Grahic Jump Location
Fig. 3

ASTA and BFC responses: (top) x-axis and (bottom) y-axis

Grahic Jump Location
Fig. 2

Scatter plot of positions for ASTA control scheme

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In