Title :
Adaptive fuzzy sliding-mode formation control for second-order multi-agent systems
Author :
Chang, Chia-Wen ; Chen, Chun-Lin ; Chang, Yeong-Hwa ; Tao, C.W.
Author_Institution :
Dept. of Electr. Eng., Chang Gung Univ., Taoyuan, Taiwan
Abstract :
In this paper, an adaptive fuzzy sliding-mode formation controller (AFSFC) is designed to accomplish the formation tracking control of multi-robot systems. The multi-agent system with the proposed AFSFC can reach the desired formation asymptotically. Based on an adaptive tuning scheme, the external disturbances are dealt with and the analysis of the control stability is given. The simulation results are included to indicate the effectiveness of the provided controller.
Keywords :
adaptive control; control system synthesis; fuzzy control; multi-agent systems; multi-robot systems; stability; variable structure systems; adaptive fuzzy sliding mode formation controller; adaptive tuning scheme; control stability analysis; formation tracking control; multi-robot systems; second order multiagent systems; Adaptation model; Continuous wavelet transforms; Robots; Adaptive control; consensus algorithm; fuzzy sliding-mode control; multi-robot system;
Conference_Titel :
System Science and Engineering (ICSSE), 2010 International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6472-2
DOI :
10.1109/ICSSE.2010.5551778
