Leader-Follower Formation Tracking for Differential-Drive Wheeled Mobile Robots with Uncertainties and Disturbances based on Immune Fuzzy Quasi-Sliding Mode Control
Willy John Nakamura Goto,
Nardênio Martins
Abstract:Mobile robotics has drawn attention of researchers due to its variety of applications. In this paper, for nonholonomic differential-drive wheeled mobile robots with an embedded PD dynamic controller, a robust kinematic controller based on sliding mode theory is designed considering the trajectory tracking problem and its extension to the formation control by multiple robots using the leader-follower separation-bearing strategy. A classical sliding mode control has some drawbacks such as the chattering phenomen… Show more
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