Proceedings ArticleDOI
Leader-following formation control of multi-robot systems with adaptive fuzzy terminal sliding-mode controller
Yeong-Hwa Chang,Cheng-Yuan Yang,Wei-Shou Chan,Chia-Wen Chang,Chin-Wang Tao +4 more
- pp 45-50
TLDR
It is indicated that the proposed adaptive control scheme can provide better leader-following formation responses of networked multiple robots.Abstract:
This paper focuses on the design of a formation controller for multi-robot dynamic systems using adaptive fuzzy terminal sliding-mode techniques. The dynamic model of differential wheeled robots is considered. To achieve finite time leader-follower formation control, a fuzzy terminal sliding-mode controller is derived based on graph theory and consensus algorithm. Moreover, an adaptive law is provided to estimate the bounds of unknown uncertainties. Both simulation and experimental results are applied to validate the formation performance. It is indicated that the proposed adaptive control scheme can provide better leader-following formation responses of networked multiple robots.read more
Citations
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Multiagent task allocation in social networks
TL;DR: In this paper, a new variant of the task allocation problem, where the agents are connected in a social network and tasks arrive at the agents distributed over the network, is proposed.
Journal ArticleDOI
Autonomous leader-follower formation control of non-holonomic wheeled mobile robots by incremental path planning and sliding mode augmented tracking control
TL;DR: This paper presents a novel robust and autonomous formation control scheme for wheeled mobile robots in the leader-follower formation control framework considering their non-holonomic constraints, and the effectiveness of the proposed control law has been established by simulation studies.
Journal ArticleDOI
Sliding Mode Formation Control of Nonlinear Multi-agent Systems with Local Lipschitz Continuous Dynamics
TL;DR: Three kinds of sliding mode controllers are proposed to solve the problem of multi-agent formation control of networked nonlinear multi- agent systems with local Lipschitz continuous dynamics under directed interaction topology.
Proceedings ArticleDOI
Leader-follower consensus with unknown control direction
TL;DR: Lyapunov-based analysis is presented to show that if the directed graph of the network has a directed spanning tree then sliding mode control law can guarantee consensus tracking.
Journal ArticleDOI
Adaptive swarm control for high-order self-organized system with unknown heterogeneous nonlinear dynamics and unmeasured states
TL;DR: The designed adaptive swarm controller can achieve aggregation, dispersion, and formation switching in the process of swarm movement, and the stability of the proposed controller is proved based on Lyapunov stability theory.
References
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TL;DR: A necessary condition of consensusability with respect to a set of admissible consensus protocols is given and is shown, under some mild conditions, to be necessary and sufficient.
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Brief paper: Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph
Jie Mei,Wei Ren,Guangfu Ma +2 more
TL;DR: A distributed adaptive control algorithm combined with distributed sliding-mode estimators is proposed for networked Lagrangian systems with multiple dynamic leaders in the presence of parametric uncertainties under a directed graph that characterizes the interaction among the leaders and the followers.
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Distributed Consensus Filtering in Sensor Networks
TL;DR: In this paper, a new filtering problem for sensor networks is investigated, where each sensor can communicate with the neighboring sensors, and filtering can be performed in a distributed way.
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