Second-order sliding mode control for nonholonomic mobile robots formation
In this paper, we propose decentralized nonholonomic algorithms for mobile robots formation control via second-order sliding mode control. The problem of formation control is solved by keeping separated distances and bearing desired angles between the leader robot and follower robots. Stability of t...
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| creator | Shen Dongbin Sun Zhendong Qiao Yupeng |
| description | In this paper, we propose decentralized nonholonomic algorithms for mobile robots formation control via second-order sliding mode control. The problem of formation control is solved by keeping separated distances and bearing desired angles between the leader robot and follower robots. Stability of the orientation of the follower robots is achieved by means of a (l - ψ)-based algorithm. We also develop a (l - l)-based algorithm to control the distances between the leader and followers for a formation. The proposed controllers are smooth, continuous, and robust against unknown bounded sensor installation errors. An illustrative example is presented to verify the effectiveness of the approach. |
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An illustrative example is presented to verify the effectiveness of the approach.</description><subject>Collision avoidance</subject><subject>Lead</subject><subject>Leader-Follower Formation</subject><subject>Mobile robots</subject><subject>Nonholonomic Mobile Robots</subject><subject>Robot kinematics</subject><subject>Robustness</subject><subject>Sliding Mode</subject><subject>Sliding mode control</subject><issn>1934-1768</issn><issn>2161-2927</issn><isbn>9781457706776</isbn><isbn>1457706776</isbn><isbn>9881725593</isbn><isbn>9789881725592</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotjMtKxDAUQOML7IzzBW7yA4G8c7OUwScDLtT1kLSJRtpcSbvx763o6sA5cE7IxgMIJ43x6pR0UljBpJfujOy8A6GNc9w6Z89JJ7zSTDgLl2Qzz5-cW-6F6sjTS-qxDgzbkBqdxzKU-k4nHBJd_dJwpBkbrVg_cMSKU-nXGsuYaMOIy_ybp7AUrFfkIodxTrt_bsnb3e3r_oEdnu8f9zcHVgQ3C8uaZ5115FFYb3oOfU5GQO4tBBuVtQASeAxBg1Iy2-xXOim5Ss6D1GpLrv--JaV0_GplCu37aDkXUkv1A0RHS6o</recordid><startdate>201107</startdate><enddate>201107</enddate><creator>Shen Dongbin</creator><creator>Sun Zhendong</creator><creator>Qiao Yupeng</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201107</creationdate><title>Second-order sliding mode control for nonholonomic mobile robots formation</title><author>Shen Dongbin ; Sun Zhendong ; Qiao Yupeng</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i105t-f40f4f4b0b1695c08cfe518fc68a6b36688280baa48332f6f983372203e798243</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Collision avoidance</topic><topic>Lead</topic><topic>Leader-Follower Formation</topic><topic>Mobile robots</topic><topic>Nonholonomic Mobile Robots</topic><topic>Robot kinematics</topic><topic>Robustness</topic><topic>Sliding Mode</topic><topic>Sliding mode control</topic><toplevel>online_resources</toplevel><creatorcontrib>Shen Dongbin</creatorcontrib><creatorcontrib>Sun Zhendong</creatorcontrib><creatorcontrib>Qiao Yupeng</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Shen Dongbin</au><au>Sun Zhendong</au><au>Qiao Yupeng</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Second-order sliding mode control for nonholonomic mobile robots formation</atitle><btitle>Proceedings of the 30th Chinese Control Conference</btitle><stitle>CHICC</stitle><date>2011-07</date><risdate>2011</risdate><spage>4860</spage><epage>4864</epage><pages>4860-4864</pages><issn>1934-1768</issn><eissn>2161-2927</eissn><isbn>9781457706776</isbn><isbn>1457706776</isbn><eisbn>9881725593</eisbn><eisbn>9789881725592</eisbn><abstract>In this paper, we propose decentralized nonholonomic algorithms for mobile robots formation control via second-order sliding mode control. The problem of formation control is solved by keeping separated distances and bearing desired angles between the leader robot and follower robots. Stability of the orientation of the follower robots is achieved by means of a (l - ψ)-based algorithm. We also develop a (l - l)-based algorithm to control the distances between the leader and followers for a formation. The proposed controllers are smooth, continuous, and robust against unknown bounded sensor installation errors. An illustrative example is presented to verify the effectiveness of the approach.</abstract><pub>IEEE</pub><tpages>5</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Collision avoidance Lead Leader-Follower Formation Mobile robots Nonholonomic Mobile Robots Robot kinematics Robustness Sliding Mode Sliding mode control |
| title | Second-order sliding mode control for nonholonomic mobile robots formation |
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