Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method

Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method

This paper presents a super-twisting-based sliding mode control method for the formation problem of multi-robot systems. The multiple robots contain plenty of uncertainties and disturbances. Such a control method has two adaptive gains that can contribute to the robustness and improve the response o...

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Bibliographic Details
Main Authors: Dianwei Qian, Guigang Zhang, Jiarong Chen, Jian Wang, Zhimin Wu
Format: Article
Language:English
Published: MDPI AG 2019-10-01
Series:Applied Sciences
Subjects:
second order sliding mode control
adaptive control
formation control
multiple robots
super twisting law
Online Access:https://www.mdpi.com/2076-3417/9/20/4315

Internet

https://www.mdpi.com/2076-3417/9/20/4315

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