Leader-follower formation control for multiple mobile robots by a designed sliding mode controller based on kinematic control method

Zhao, Yuan; Park, Dongju; Moon, Jun Hyuk; Lee, Jang-Myung

doi:10.23919/sice.2017.8105709

Cited by 11 publications

(4 citation statements)

References 10 publications

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“…In [16], the relative positions and orientation angles of the leader robot and follower robot were obtained from the laser and infrared sensors on the follower robot. In [17], posture information of the leader robot was obtained by the follower robot's light detection and ranging (LIDAR) sensor and inertial measurement unit (IMU). Tracking the leader robot with these onboard sensors increases the number of sensors on the follower robot, resulting in the increased size and weight of the follower robot.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Boo

Chwa

2022

IEEE Access

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Fuzzy integral sliding mode observer (FISMO) based leader-follower formation control with the use of ceiling-mounted camera information is proposed for mobile robots with kinematic disturbance and no information of the velocities of leader and follower robots. Using only the posture information of both the leader and follower robots obtained from the camera sensor, the follower robot is made to follow the trajectory of a target robot that is introduced to render the leader-follower formation control more efficient. As a result, a kinematic tracking error model is proposed in terms of both the posture error between the target and follower robots and the posture error between the origin of the inertial reference frame and follower robot. Because the kinematic disturbance and the velocities of the leader and follower robots are not available, an FISMO is designed to simultaneously estimate the kinematic disturbance as well as the linear and angular velocities of the leader and follower robots. FISMO-based leader-follower output feedback formation control is then proposed based on the estimates of the kinematic disturbance and velocities and the backstepping-like feedback linearization tracking control. The experimental results comparing the proposed FISMO-based method with the robust distance-based tracking control method and integral sliding mode observer (ISMO)-based method are provided to verify the effectiveness of the proposed method.INDEX TERMS Ceiling-mounted camera, fuzzy integral sliding mode observer, kinematic disturbance, leader-follower output feedback formation control, mobile robots.

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Section: Introductionmentioning

confidence: 99%

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Boo

Chwa

2022

IEEE Access

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“…The first approach is the leader-follower formation control [2,6], where a leader robot is chosen to be provided with the appropriate sensors and path plans for the team. All other robots are controlled to follow the leader; more details on the leader-follower approach can be found on the survey paper [7].…”

Section: Introductionmentioning

confidence: 99%

Formation control of multiple wheeled mobile robots based on model predictive control

et al. 2022

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This paper considers the problem of formation control for a team of nonholonomic wheeled mobile robots considering obstacle avoidance. A new control algorithm based on the model predictive control (MPC) and the nonlinear dynamics of the system is presented here. The control algorithm is applied to the nonlinear system using two different controllers including linear MPC and nonlinear MPC. The virtual structure formation approach and artificial potential field method are employed to determine the reference trajectories of the robots and to solve the problem of obstacle avoidance. A control algorithm consisting of two parts is proposed to track the trajectories and maintain the team’s formation. Two advantages of using MPC techniques are the ability to consider control and state constraints which are of high importance in practical applications. The main contribution of this paper is the design of two robust control systems to disturbance with respect to actuator saturation limits. Simulation results demonstrate the effectiveness and robustness of the proposed control algorithm in trajectory tracking and formation maintenance in the presence of disturbance and actuator limits.

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“…There are several approaches for formation strategy such as behavior-based [5], [6] virtualstructure [7], and leader-follower [8]. Formation using leader-follower is begin with leader moving along predefined trajectory and the follower maintain its position and orientation with respect to the leader [9]. One of the approaches which often be used is separation-bearing controller (SBC) [10].…”

Section: Introductionmentioning

confidence: 99%

PDC Control for Mobile Robot Formations with Virtual Reference Based on Separation-Bearing

Septyan

2022

JET

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This paper presents a development of leader-follower formation control using separation-bearing control (SBC) and Parallel Distribution Compensation (PDC) control. The formation control involves tracking of each desired trajectory by leader and follower robots. The follower trajectory is generated using SBC approach with respect to predefined trajectory of the leader. This design is used to improve formation control when initial error is given to leader. In order to maintain the formation and avoid internal collision, the error tracking of each robot must be kept near zero. Each robot is controlled by kinematic and dynamics controller which is designed using PDC and PID. The velocity reference for dynamic robots is limited. The simulation result shows the tracking errors for position and orientation with initial lateral error set at 0.5 m are less than 0.5 m and 1.2 rad which then converges to the desired value. Thus, the good trajectory formation tracking is achieved.

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Leader-follower formation control for multiple mobile robots by a designed sliding mode controller based on kinematic control method

Cited by 11 publications

References 10 publications

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Formation control of multiple wheeled mobile robots based on model predictive control

PDC Control for Mobile Robot Formations with Virtual Reference Based on Separation-Bearing

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