文献类型：期刊文献

英文题名：Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

作者：Qian, Dianwei[1];Li, Chengdong[2];Tong, Shiwen[3];Yu, Lu[1]

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 102206, Peoples R China;[2]Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan, Peoples R China;[3]Beijing Union Univ, Coll Automat, Beijing, Peoples R China

第一机构：North China Elect Power Univ, Sch Control & Comp Engn, 2 Beinong Rd, Beijing 102206, Peoples R China

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

年份：2016

卷号：13

期号：6

起止页码：1-11

外文期刊名：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

收录：;EI(收录号：20170103207431);Scopus(收录号：2-s2.0-85007348001);WOS:【SCI-EXPANDED(收录号:WOS:000394815600003)】；

基金：The author(s) disclosed receipt of the following financial support for the research, authorship and/or publication of this article: 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：Formation control; multiple robots; uncertainties; integral sliding mode control; nonlinear disturbance observer

摘要：This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader-follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov's theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.