Authors
Wenhao Zheng, Yingmin Jia
Corresponding Author
Wenhao Zheng
Available Online 1 June 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.1.3How to use a DOI?
Keywords
nonholonomic mobile robot, leader-follower, formation control, sliding mode, continuous reaching law.
Abstract
This paper considers the formation control of nonholonomic mobile robots. The formation problem is converted to the error model based on the leader-follower structure. A sliding mode controller, which is proved to be globally finite-time stable by Lyapunov stability theory, is presented in this study. In addition, a continuous reaching law is designed to reduce the chattering which caused by the computation time delays and limitations of control. Simulation results verify the feasibility and effectiveness of the control strategy.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).