文献类型：期刊文献

英文题名：Robust Multi-robot Formations via Sliding Mode Controller and Fuzzy Compensator

作者：Qian, Dianwei[1];Tong, Shiwen[2];Xu, Chang[3]

第一作者：Qian, Dianwei

通讯作者：Qian, DW[1]

机构：[1]North China Elect Power Univ, Sch Control & Comp Engn, 2 Beinong Rd, Beijing, Peoples R China;[2]Beijing Union Univ, Coll Automat, 97 Beisihuan Donglu, Beijing 100101, Peoples R China;[3]Hohai Univ, Coll Energy & Elect, 1 Xikang Rd, Nanjing 210098, Jiangsu, Peoples R China

第一机构：North China Elect Power Univ, Sch Control & Comp Engn, 2 Beinong Rd, Beijing, Peoples R China

通讯机构：[1]corresponding author), North China Elect Power Univ, Sch Control & Comp Engn, 2 Beinong Rd, Beijing, Peoples R China.

年份：2016

卷号：57

期号：4

起止页码：1007-1019

外文期刊名：AUTOMATIKA

收录：;WOS:【SCI-EXPANDED(收录号:WOS:000418669600014)】；

基金：This work was partly supported the NSFC Project under Grant No. 60904008 and the International Science and Technology Cooperation Project between China and Denmark under Grant No. 2014DFG62530.

语种：英文

外文关键词：Multiple-robot system; Sliding mode; Leader-follower formation; Uncertainties; Fuzzy compensator

摘要：To form up a multiple-robot system, a robust adaptive control scheme is addressed. The control scheme is based on the methodology of sliding mode control (SMC). The formation system is leader-follower-based, whose dynamics are subject to uncertainties. A fuzzy compensator is adopted to approximate the uncertainties. To attenuate the approximation error, a robust adaptive law of the fuzzy compensator is introduced. In the sense of Lyapunov, not only such a control scheme can asymptotically stabilize the whole formation system, but also the convergence of the approximation error can be guaranteed. Compared with the sole sliding mode controller without compensator, some numerical simulations verify the feasibility and effectiveness of the control scheme for the multiple-robot system in the presence of uncertainties.