Leader-Follower Formation of Unicycle Mobile Robots Using Quasi-Sliding Modes

https://doi.org/10.58571/CNCA.AMCA.2023.016

Resumen: This article presents a distributed control of unicycle mobile robots for the leader-follower configuration while maintaining a specific geometric distribution in the horizontal plane. The proposed control algorithm facilitates the formation of the follower robots with respect to the leader by using a quasi-sliding mode. The technique uses a pair of sliding variables, and the proposed controller guarantees the convergence of the sliding variables to a region close to zero. The particular formulation of these sliding variables ensures that their convergence to a bounded region around zero, provides asymptotic convergence of the formation errors towards a bounded region around the origin.

¿Cómo citar?

Diaz, Yoshua; Davila, Jorge. Leader-Follower Formation of Unicycle Mobile Robots Using Quasi-Sliding Modes. Memorias del Congreso Nacional de Control Automático, pp. 86-91, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.016

Palabras clave

Control Discontinuo (modos deslizantes); Sistemas Multi-Agente; Control Robusto

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