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research-article

Distributed sliding-mode formation controller design for multi-robot dynamic systems

[+] Author and Article Information
Teh-Lu Liao

Department of Engineering Science, National Cheng Kung University, Tainan 70101, Taiwan
tlliao@mail.ncku.edu.tw

Jun-Juh Yan

Dept. of Computer and Communication, Shu-Te University, kaohsiung 82445, Taiwan
jjyan@stu.edu.tw

Wei-Shou Chan

National Chung-Shan Institute of Science and Technology, Taoyuan City 32546, Taiwan
wschan72417@gmail.com

1Corresponding author.

ASME doi:10.1115/1.4035614 History: Received June 04, 2015; Revised December 21, 2016

Abstract

This paper presents a distributed formation control for multi-robot dynamic systems with external disturbances and system uncertainties. First from the Lagrangian analysis, the dynamic model of a wheeled mobile robot can be derived. Then the robust distributed formation controller is proposed based on sliding mode control, consensus algorithm, and graph theory. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov stability theorem. From simulation results, the proposed approach provides better formation responses compared to consensus algorithm.

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