Next Article in Journal
Enhancing Prediction Performance of Landslide Susceptibility Model Using Hybrid Machine Learning Approach of Bagging Ensemble and Logistic Model Tree
Next Article in Special Issue
Reconfigurable Formation Control of Multi-Agents Using Virtual Linkage Approach
Previous Article in Journal
HM3alD: Polymorphic Malware Detection Using Program Behavior-Aware Hidden Markov Model
Previous Article in Special Issue
Optimal Configuration and Path Planning for UAV Swarms Using a Novel Localization Approach
Article Menu
Issue 7 (July) cover image

Export Article

Open AccessArticle
Appl. Sci. 2018, 8(7), 1045; https://doi.org/10.3390/app8071045

Leader–Follower Formation Maneuvers for Multi-Robot Systems via Derivative and Integral Terminal Sliding Mode

School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
*
Author to whom correspondence should be addressed.
Received: 10 May 2018 / Revised: 3 June 2018 / Accepted: 11 June 2018 / Published: 27 June 2018
(This article belongs to the Special Issue Swarm Robotics)
Full-Text   |   PDF [3375 KB, uploaded 27 June 2018]   |  

Abstract

This paper investigates the formation problem of multiple robots based on the leader–follower mechanism. At first, the dynamics of such a leader–follower framework are modeled. The input–output equations are depicted by calculating the relative degree of a leader–follower formation system. Furthermore, the derivative and integral terminal sliding mode controller is designed based on the relative degree. Since the formation system suffers from uncertainties, the nonlinear disturbance observer is adopted to deal with the uncertainties. The stability of the closed-loop control system is proven in the sense of Lyapunov. Finally, some numerical simulations are displayed to verify the feasibility and effectiveness by the designed controller and observer. View Full-Text
Keywords: multiple robots; formation; sliding mode controller; nonlinear disturbance observer; system stability multiple robots; formation; sliding mode controller; nonlinear disturbance observer; system stability
Figures

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Qian, D.; Xi, Y. Leader–Follower Formation Maneuvers for Multi-Robot Systems via Derivative and Integral Terminal Sliding Mode. Appl. Sci. 2018, 8, 1045.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top