Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method
文献类型：期刊论文
| 作者 | Qian, Dianwei2; Zhang, Guigang1 ; Chen, Jiarong2; Wang, Jian1; Wu, Zhimin3
|
| 刊名 | APPLIED SCIENCES-BASEL
 |
| 出版日期 | 2019-10-01 |
| 卷号 | 9期号:20页码:19 |
| 关键词 | second order sliding mode control adaptive control formation control multiple robots super twisting law |
| DOI | 10.3390/app9204315 |
| 通讯作者 | Wu, Zhimin(zhimin_wu@szpt.edu.cn) |
| 英文摘要 | Featured Application multi-robot systems, formation maneuvers, sliding mode control, adaptive control. Abstract This paper presents a super-twisting-based sliding mode control method for the formation problem of multi-robot systems. The multiple robots contain plenty of uncertainties and disturbances. Such a control method has two adaptive gains that can contribute to the robustness and improve the response of the formation maneuvers despite these uncertainties and disturbances. Based on the leader-follower frame, this control method was investigated. The closed-loop formation stability is theoretically guaranteed in the sense of Lyapunov. From the aspect of practice, the control method was carried out by a multi-robot system to achieve some desired formation patterns. Some numerical results were demonstrated to verify the feasibility of the control method. Some comparisons were also illustrated to support the superiority and effectiveness of the presented sliding mode control method. |
| WOS关键词 | MULTIAGENT SYSTEMS |
| 资助项目 | Science and Technology Program of Shenzhen, China[JCYJ20170818114408837] |
| WOS研究方向 | Chemistry ; Materials Science ; Physics |
| 语种 | 英语 |
| WOS记录号 | WOS:000496269400118 |
| 出版者 | MDPI |
| 资助机构 | Science and Technology Program of Shenzhen, China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28862]  |
| 专题 | 数字内容技术与服务研究中心_智能技术与系统工程 |
| 通讯作者 | Wu, Zhimin |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China 3.Shenzhen Polytech, Inst Mech & Elect Engn, Shenzhen 518055, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qian, Dianwei,Zhang, Guigang,Chen, Jiarong,et al. Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method[J]. APPLIED SCIENCES-BASEL,2019,9(20):19. |
| APA | Qian, Dianwei,Zhang, Guigang,Chen, Jiarong,Wang, Jian,&Wu, Zhimin.(2019).Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method.APPLIED SCIENCES-BASEL,9(20),19. |
| MLA | Qian, Dianwei,et al."Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method".APPLIED SCIENCES-BASEL 9.20(2019):19. |
入库方式： OAI收割
来源：自动化研究所
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