Sliding mode control for robot formations

Sánchez, José Rafael García; Fierro, Rafael

doi:10.1109/isic.2003.1254675

Cited by 33 publications

(27 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Other authors expand upon this approach with other control strategies, such as dynamic feedback linearisation [43], model predictive control [44], [45], and first and second order sliding mode control [46].…”

Section: Leader-follower Approachesmentioning

confidence: 99%

“…[curr cost, curr assignments] ← call Kuhn-Munkres algorithm with costs matrix 33: if curr cost < min cost then 34: min cost ← curr cost 35: min assignments ← curr assignments X N p ← matrix element of min plan list corresponding to min(min cost list) 45: X N p ← X N p with rows rearranged according to assignments specified by element of min assignments list corresponding to min(min cost list) 46:…”

mentioning

confidence: 99%

See 1 more Smart Citation

Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles

Rypkema¹

2015

View full text Add to dashboard Cite

Recent advances in autonomous underwater vehicle (AUV) technology have led to their widespread acceptance and adoption for use in scientific, commercial, and defence applications in the underwater domain. At the same time, research progress in swarm robotics has seen swarm intelligence algorithms in use with greater effect on real-world robots in the field. A group of AUVs utilizing swarm intelligence concepts has the potential to address issues more effectively than a single AUV, and such a group can potentially open up new areas of application. Examples include the monitoring and tracking of highly dynamic oceanographic phenomena such as phytoplankton blooms and the use of an AUV swarm as a virtual acoustic receiver for sea-bottom seismic surveying or the monitoring of naturally occurring acoustic radiation from cracking ice. However, the limitations of the undersea environment places unique constraints on the use of existing swarm robotics approaches with AUVs. In particular, algorithms must be distributed and robust in the face of localization error and degraded communications.This work presents an investigation into one particular swarm strategy for a group of AUVs, termed formation control, with consideration to the constraints of the underwater domain. Four formation control algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. This metric is used in conjunction with a measure of formation energy expenditure to compare the efficacy of each behaviour during construction of a desired formation, and formation maintenance while it drifts in ocean currents. This metric is also used to compare robustness of each algorithm in the presence of vehicle failure and changing communication rate.

show abstract

Section: Leader-follower Approachesmentioning

confidence: 99%

mentioning

confidence: 99%

Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles

Rypkema¹

2015

View full text Add to dashboard Cite

show abstract

“…Theorem 2: Under Assumptions 1 and 4-6, using only the relative configuration, the controller defined in (27) and (31), with the sliding variable (24) and (25), ensures that the tracking errors given by (12) are asymptotically stable. Moreover, if h ik (0) ∈ Λ ik , the collision avoidance between the leader and its corresponding follower is guaranteed from the initial time instance.…”

Section: B Second Order Sliding-mode Controller (R = 2)mentioning

confidence: 99%

“…Using the leader-follower approach, the most common formation control strategies are feedback linearization [1], [6], dynamic feedback linearization [10], backstepping [11], and first order sliding-mode control [12]. In [1] and [6], the absolute velocity of the leader is treated as an exogenous input for the controller.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

Defoort

Floquet

Kokosy

et al. 2008

IEEE Trans. Ind. Electron.

311

160

View full text Add to dashboard Cite

Abstract-This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a timevarying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy.

show abstract

An Enhanced Formation of Multi-robot Based on A* Algorithm for Data Relay Transmission

Choi

Kim

et al. 2011

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Sliding mode control for robot formations

Cited by 33 publications

References 14 publications

Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles

Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles

Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

An Enhanced Formation of Multi-robot Based on A* Algorithm for Data Relay Transmission

Contact Info

Product

Resources

About