Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 11, Issue 8, Pages 1264-1273Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2016.1110
Keywords
variable structure systems; adaptive control; multi-robot systems; mobile robots; uncertain systems; robust control; Wi-Fi link; Lego EV3 robots; external disturbances; uncertainty robustness; robust model-based sliding-mode controller; nonholonomic multirobot system; adaptive sliding-mode cluster space control
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Funding
- King Abdulaziz City for Science and Technology (KACST) through the Science & Technology Unit at King Fahd University of Petroleum & Minerals (KFUPM) [11-ELE2147-04]
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The study proposes a novel adaptive and robust model-based sliding-mode controller for multi-robot system in cluster space. The study considers non-holonomic robots, which are commonly used in several real-life applications. The proposed controller is robust to uncertainties and external disturbances. Simulation and experimental tests show the potential of this approach. The experimental validation was done using Lego EV3 robots connected through Wi-Fi link.
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