On Composite Leader-follower Formation Control for Wheeled Mobile Robots with Adaptive Disturbance Rejection

This paper proposes a composite control strategy for the formation control of a group of wheeled mobile robots (WMRs) by taking full advantages of model predictive control (MPC) and adaptive terminal sliding mode control (ATSMC) techniques. To begin with, in order to confirm the formulation stabilit...

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Veröffentlicht in:	Applied artificial intelligence 2019-12, Vol.33 (14), p.1306-1326
Hauptverfasser:	Lin, Sida, Jia, Ruiming, Yue, Ming, Xu, Yuan
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Computer simulation Control stability Controllers Predictive control Robot control Sliding mode control Strategy
Online-Zugang:	Volltext
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