Derivative-integral Terminal Sliding Mode Formations of Multi-robots

ISBN-13: 9786200652843 / Angielski / Miękka / 2020 / 88 str.

Dianwei Qian;Shiwen Tong;Weijie Yang

Opis

In this book, the leader-follower formation mechanism of multi-robot system with nonholonomic constrained wheeled mobile robots is studied as the research object. There are matching uncertainties and non-matching uncertainties in multi-robot formation system. In this paper, the derivative and integral terminal sliding mode control method is used to deal with the matching uncertainty and trajectory tracking. The influence of unmatched uncertainty is compensated by nonlinear disturbance observer.

O autorze

Qian, Dianwei
Dianwei Qian is with the School of Control and Computer Engineering, North China Electric Power University, Beijing.Shiwen Tong is with the College of Robotics, Beijing Union University, Beijing.Weijie Yang is with the School of Computer and Information Engineering, Beijing Technology and Business University, Beijing