In this paper, a decentralized formation control based on adaptive super-twisting algorithm (ASTA) is designed for a group of unicycle mobile robots. According to this approach, movements of robots are driven through a sequence of formation patterns. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Furthermore, a high-order differentiator is designed to estimate unmeasurable signals, in order to implement the proposed controller. Finally, simulation results illustrate the effectiveness of the proposed control scheme.
Issue Section:
Technical Brief
References
1.
Nijmeijer
, H.
, and Rodriguez-Angeles
, A.
, 2003
, Synchronization of Mechanical Systems
(World Scientific Series on Nonlinear Science), World Scientific
, Singapore
.2.
Cruz
, C. D. L.
, and Carelli
, R.
, 2008
, “Dynamic Model Based Formation Control and Obstacle Avoidance of Multi-Robot Systems
,” Robotica
, 26
(3
), pp. 345
–356
.3.
Ge
, S.
, and Cui
, Y. J.
, 2002
, “Dynamic Motion Planning for Mobile Robots Using Potential Field Method
,” Auton. Rob.
, 13
(3
), pp. 207
–222
.4.
Lawton
, J.
, Beard
, R.
, and Young
, B.
, 2003
, “A Decentralized Approach to Formation Maneuvers
,” IEEE Rob. Autom.
, 19
(6
), pp. 933
–941
.5.
Ren
, W.
, and Beard
, R. W.
, 2004
, “Formation Feedback Control for Multiple Spacecraft Via Virtual Structures
,” IEE Proc.: Control Theory Appl.
, 151
(3
), pp. 357
–368
.6.
Yu
, S.
, and Long
, X.
, 2015
, “Finite-Time Consensus for Second-Order Multi-Agent Systems With Disturbances by Integral Sliding Mode
,” Automatica
, 54
(1
), pp. 158
–165
.7.
Caudill
, J.
, Harvey
, M.
, and Ashok
, R.
, 2014
, “An Overview of Satellite Formation Control Using Higher Order and Adaptive Sliding Mode Control Techniques
,” SOUTHEASTCON 2014, IEEE,
Mar. 13–16, pp. 978
–983
.8.
Shtessel
, Y.
, Taleb
, M.
, and Plestan
, F.
, 2012
, “A Novel Adaptive-Gain Supertwisting Sliding Mode Controller: Methodology and Application
,” Automatica
, 48
(5
), pp. 759
–769
.9.
Moreno
, J.
, and Osorio
, M.
, 2012
, “Strict Lyapunov Functions for the Super-Twisting Algorithm
,” IEEE Autom. Control
, 57
(4
), pp. 1035
–1040
.10.
Pozniak
, A.
, 2008
, Advanced Mathematical Tools for Automatic Control Engineers: Deterministic Techniques
, Elsevier
, Amsterdam, The Netherlands
.11.
Levant
, A.
, 2003
, “High-Order Sliding Modes, Differentiation and Output-Feedback Control
,” Int. J. Control
, 76
(9
), pp. 924
–941
.Copyright © 2017 by ASME
You do not currently have access to this content.
