Leader-follower Formation Control of Mobile Robots with Sliding Mode
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 stud...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Atlantis Press
2017-05-01
|
| Series: | Journal of Robotics, Networking and Artificial Life (JRNAL) |
| Subjects: | |
| Online Access: | https://www.atlantis-press.com/article/25878334.pdf |