文献类型：期刊文献

英文题名：Leader-Following Formation Control of Multiple Robots with Uncertainties through Sliding Mode and Nonlinear Disturbance Observer

作者：Qian, Dianwei[1];Tong, Shiwen[2];Li, Chengdong[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, Peoples R China;[2]Beijing Union Univ, Coll Automat, Beijing, Peoples R China;[3]Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan, Shandong, Peoples R China

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

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

年份：2016

卷号：38

期号：5

起止页码：1008-1018

外文期刊名：ETRI JOURNAL

收录：;EI(收录号：20164102893205);Scopus(收录号：2-s2.0-84989958989);WOS:【SCI-EXPANDED(收录号:WOS:000384959600023)】；

基金：This work was supported by the National Natural Science Foundation of China Project under the grants 60904008 and 61473176, and the Natural Science Foundation of Shandong Province for Outstanding Young Talents in Provincial Universities (ZR2015JL021).

语种：英文

外文关键词：Multiple robots; Formation; Sliding mode control; Uncertainties; Nonlinear disturbance observer

摘要：This paper presents a control scheme for the leader-following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader-following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB-based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC-based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second-order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.