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Volume 9
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10.3390/app9204315
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Article

Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method

by
Dianwei Qian
1,
Guigang Zhang
2,
Jiarong Chen
1,
Jian Wang
2 and
Zhimin Wu
3,*
1
School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
2
Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
3
Institute of Mechanical and Electrical Engineering, Shenzhen Polytechnic, Shenzhen 518055, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(20), 4315; https://doi.org/10.3390/app9204315
Submission received: 6 September 2019 / Revised: 22 September 2019 / Accepted: 27 September 2019 / Published: 14 October 2019
(This article belongs to the Special Issue Multi-Agent Systems 2020)
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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.
Keywords: second order sliding mode control; adaptive control; formation control; multiple robots; super twisting law second order sliding mode control; adaptive control; formation control; multiple robots; super twisting law

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MDPI and ACS Style

Qian, D.; Zhang, G.; Chen, J.; Wang, J.; Wu, Z. Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method. Appl. Sci. 2019, 9, 4315. https://doi.org/10.3390/app9204315

AMA Style

Qian D, Zhang G, Chen J, Wang J, Wu Z. Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method. Applied Sciences. 2019; 9(20):4315. https://doi.org/10.3390/app9204315

Chicago/Turabian Style

Qian, Dianwei, Guigang Zhang, Jiarong Chen, Jian Wang, and Zhimin Wu. 2019. "Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method" Applied Sciences 9, no. 20: 4315. https://doi.org/10.3390/app9204315

APA Style

Qian, D., Zhang, G., Chen, J., Wang, J., & Wu, Z. (2019). Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method. Applied Sciences, 9(20), 4315. https://doi.org/10.3390/app9204315

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