文献类型：期刊文献

英文题名：Leader-follower-based formation control of nonholonomic mobile robots with mismatched uncertainties via integral sliding mode

作者：Qian, Dianwei[1];Tong, Shiwen[2];Guo, Jinrong[1];Lee, SukGyu[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, Beijing 102206, Peoples R China;[2]Beijing Union Univ, Coll Automat, Beijing, Peoples R China;[3]Yeungnam Univ, Dept Elect Engn, Gyongsan, South Korea

第一机构：North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China

通讯机构：[1]corresponding author), North China Elect Power Univ, Sch Control & Comp Engn, 2 Beijing Rd, Beijing 102206, Peoples R China.

年份：2015

卷号：229

期号：6

起止页码：559-569

外文期刊名：PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING

收录：;EI(收录号：20152300926644);Scopus(收录号：2-s2.0-84930453284);WOS:【SCI-EXPANDED(收录号:WOS:000355695100008)】；

基金：This work was supported by the Korea Foundation for Advanced Studies "International Scholar Exchange Fellowship" for the academic year 2013-2014.

语种：英文

外文关键词：Controller and system design methods; control theory; system simulation; robot navigation; control system design

摘要：This article focuses on the control of a group of nonholonomic mobile robots. A leader-follower coordinated control scheme is developed to achieve formation maneuvers of such a multi-robot system. The scheme adopts the methodology of integral sliding mode control to form up and maintain the robots in predefined trajectories. The dynamic equations of the scheme are subject to mismatched uncertainties. The mismatched uncertainties challenge formation stabilization because they cannot be suppressed by the invariance of integral sliding mode control. In light of Lyapunov's direct method, a sufficient condition is drawn to guarantee the reachability condition of integral sliding mode control in the presence of the mismatched uncertainties. To verify the feasibility and effectiveness of the proposed strategy, simulation results are illustrated by an uncertain multi-robot system composed of three nonholonomic mobile robots.