期刊
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷 42, 期 2, 页码 444-457出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2011.2167679
关键词
Formation control; fuzzy sliding-mode control; multirobot systems
类别
资金
- National Science Council (NSC) of Taiwan [NSC 98-2221-E-182-042-MY2]
- High Speed Intelligent Communication Research Center, Chang Gung University, Taiwan
This paper mainly addresses the decentralized formation problems for multiple robots, where a fuzzy sliding-mode formation controller (FSMFC) is proposed. The directed networks of dynamic agents with external disturbances and system uncertainties are discussed in consensus problems. To perform a formation control and to guarantee system robustness, a novel formation algorithm combining the concepts of graph theory and fuzzy sliding-model control is presented. According to the communication topology, formation stability conditions can be determined so that an FSMFC can be derived. By Lyapunov stability theorem, not only the system stability can be guaranteed, but the desired formation pattern of a multirobot system can be also achieved. Simulation results are provided to demonstrate the effectiveness of the provided control scheme. Finally, an experimental setup for the e-puck multirobot system is built. Compared to first-order formation algorithm and fuzzy neural network formation algorithm, it shows that real-time experimental results empirically support the promising performance of desire.
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