Disturbance observer-based super-twisting sliding mode control for formation tracking of multi-agent mobile robots
文献类型：期刊论文
| 作者 | Zhang, Guigang1 ; Wang, Yun1; Wang, Jian1; Chen, Jiarong2; Qian, Dianwei2
|
| 刊名 | MEASUREMENT & CONTROL
 |
| 出版日期 | 2020-05-01 |
| 卷号 | 53期号:5-6页码:908-921 |
| 关键词 | Mobile robots formation control super-twisting sliding mode control uncertainties disturbance observer |
| ISSN号 | 0020-2940 |
| DOI | 10.1177/0020294020909126 |
| 通讯作者 | Zhang, Guigang(guigang.zhang@ia.ac.cn) |
| 英文摘要 | This paper presents a super-twisting sliding mode control method for the formation maneuvers of multiple robots. In the real world of applications, the robots suffer from many uncertainties and disturbances that trouble the super-twisting sliding mode formation maneuvers very much. Especially, this issue has the adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of disturbance observer to meet this challenge. In terms of the leader-follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the disturbance observer technique. This kind of formation design has the guaranteed closed-loop stability in the sense of Lyapunov. Some simulations are implemented through a multi-robot platform. The results demonstrate that the superiority of the formation design regardless of uncertainties and disturbances. |
| WOS关键词 | SYSTEMS ; SUPPRESSION ; DESIGN |
| 资助项目 | BJNSF[L191021] ; National Science and Technology Major Project[2017-I-0006-0007] |
| WOS研究方向 | Automation & Control Systems ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000539968000017 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 资助机构 | BJNSF ; National Science and Technology Major Project |
| 源URL | [http://ir.ia.ac.cn/handle/173211/39771]  |
| 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 | Zhang, Guigang |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China 2.North China Elect Power Univ, Sch Control & Comp Engn, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Guigang,Wang, Yun,Wang, Jian,et al. Disturbance observer-based super-twisting sliding mode control for formation tracking of multi-agent mobile robots[J]. MEASUREMENT & CONTROL,2020,53(5-6):908-921. |
| APA | Zhang, Guigang,Wang, Yun,Wang, Jian,Chen, Jiarong,&Qian, Dianwei.(2020).Disturbance observer-based super-twisting sliding mode control for formation tracking of multi-agent mobile robots.MEASUREMENT & CONTROL,53(5-6),908-921. |
| MLA | Zhang, Guigang,et al."Disturbance observer-based super-twisting sliding mode control for formation tracking of multi-agent mobile robots".MEASUREMENT & CONTROL 53.5-6(2020):908-921. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。