NDLI: Prescribed consensus and formation error constrained finite-time sliding mode control for multi-agent mobile robot systems

Content Provider	IET Digital Library
Author	Han, Seong Ik
Abstract	This study addresses a predefined performance constraint control scheme by applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic models of the WMR systems are considered simultaneously to design a finite-time sliding mode controller with a novel constraint control term that assures the prescribed performances such as overshoot, rising time, and steady-state error size, for the consensus and formation errors among the distributed WMR systems. Compared with a conventional prescribed controller, the structure of the proposed constraint controller is more compact and can be conveniently implemented in actual systems. The stability conditions and finite convergence time are discussed using the Lyapunov function with the adaptive law to describe the uncertainty. Numerical simulation results of formation control for the WMR systems support the validity of the proposed control method and demonstrate its potential performance.
Starting Page	282
Ending Page	290
Page Count	9
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 2, Jan (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/2
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0351
Journal	IET Control Theory & Applications
Publisher Date	2017-11-06
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Constraint Control Term Control System Analysis Control System Synthesis Distributed Control Distributed Wheeled Mobile Robot System Distributed WMR System Dynamic Model Finite Convergence Time Finite-time Sliding Mode Controller Design Formation Error Constrained Finite-time Sliding Mode Control Graph Theory Kinematic Model Lyapunov Function Lyapunov Method Mobile Robots Multi-agent System Multi-robot System Multiagent Mobile Robot System Multivariable Control System Position Control Prescribed Consensus Error Constrained Finite-time Sliding Mode Control Robot And Manipulator Mechanics Robot Dynamics Robot Kinematics Spatial Variables Control Stability Stability Condition Stability in Control Theory Steady-state Error Size Synthesis Method Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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