Formation Tracking of Unicycle Mobile Robots Using Super-Twisting

https://doi.org/10.58571/CNCA.AMCA.2024.021

Resumen: This article introduces a distributed control approach for unicycle mobile robots in a leader-follower configuration, ensuring a specific geometric arrangement on the horizontal plane. The proposed control algorithm allows the formation of the follower robots relative to the leader using a super-twisting sliding mode controller even in the presence of disturbances. This method employs a pair of sliding variables and a continuous control signal, ensuring that the sliding variables converge to zero within a finite time. The specific formulation of these sliding variables guarantees that the formation errors converge asymptotically to a bounded region around the origin.

¿Cómo citar?

Diaz, Y. & Davila, J. (2024). Formation Tracking of Unicycle Mobile Robots Using Super-Twisting. Memorias del Congreso Nacional de Control Automático 2024, pp. 120-125. https://doi.org/10.58571/CNCA.AMCA.2024.021

Palabras clave

Autonomous vehicles, Sliding mode control, Mobile robots, Cooperative control, Decentralized and distributed control

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