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A finite-time approach to formation control of multiple mobile robots with terminal sliding mode

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  • Dongya Zhao
  • Tao Zou

Abstract

In this study, a new finite-time synchronised approach is developed for multiple mobile robots formation control based on terminal sliding mode control principle and system synchronisation theory. Associated stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems. An illustrative example of multiple mobile robots formation control is bench tested to validate the effectiveness of the proposed approach.

Suggested Citation

  • Dongya Zhao & Tao Zou, 2012. "A finite-time approach to formation control of multiple mobile robots with terminal sliding mode," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(11), pages 1998-2014.
    • Handle: RePEc:taf:tsysxx:v:43:y:2012:i:11:p:1998-2014
    DOI: 10.1080/00207721.2011.564323
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    Cited by:

    1. Qinglei Hu & Bo Li & Danwei Wang & Eng Kee Poh, 2015. "Velocity-free fault-tolerant control allocation for flexible spacecraft with redundant thrusters," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(6), pages 976-992, April.
    2. P.R. Ouyang & V. Pano & T. Dam, 2015. "PID position domain control for contour tracking," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(1), pages 111-124, January.
    3. Zi-Jiang Yang & Pan Qin, 2016. "Robust synchronisation tracking control of networked Euler–Lagrange systems using reference trajectory estimation based on virtual double-integrators," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(9), pages 2088-2099, July.
    4. Guoliang Zhao & Hongxing Li & Zhankui Song, 2016. "Tensor product model transformation based decoupled terminal sliding mode control," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(8), pages 1791-1803, June.
    5. Dongya Zhao & Shaoyuan Li & Quanmin Zhu, 2016. "Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(4), pages 791-804, March.
    6. Long Cheng & Hanlei Wang & Zeng-Guang Hou & Min Tan, 2016. "Reaching a consensus in networks of high-order integral agents under switching directed topologies," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(8), pages 1966-1981, June.
    7. Zi-Jiang Yang & Yoshiyuki Shibuya & Pan Qin, 2015. "Distributed robust control for synchronised tracking of networked Euler–Lagrange systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(4), pages 720-732, March.

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