|제목(국문)||모델 불확실성 및 외란을 갖는 이동 로봇들을 위한 적응 슬라이딩 모드 군집 제어 및 충돌 회피 기법|
|제목(영문)||Adaptive Sliding-Mode Formation Control and Collision Avoidance for Multi-agent Nonholonomic Mobile Robots with Model Uncertainty and Disturbance|
(Bong Seok Park
박진배 (Jin Bae Park ,Yonsei University ) ▷공저자네트워크등록하기
In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.
|keyword||formation control, leader-following approach, adaptive sliding mode control, collision avoidance|