Multi-Agent Tracking of Non-Holonomic Mobile Robots via Non-Singular Terminal Sliding Mode Control

This paper deals with the problem of the formation control of nonholonomic mobile robots in the leader–follower scenario without considering the leader information, as a result of its velocity and position. The kinematic model is reformulated as a formation model by incorporating the model uncertain...

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Veröffentlicht in:	Robotica 2020-11, Vol.38 (11), p.1984-2000
Hauptverfasser:	Yousuf, Bilal M., Khan, Abdul Saboor, Noor, Aqib
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collision avoidance Control systems design Controllers Design Design modifications Multiagent systems Obstacle avoidance Robot control Sliding mode control Stability analysis Tracking errors Tracking problem
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