Title :
Robot formation control using backstepping and sliding mode techniques
Author :
Castro, R. ; Álvarez, Jm ; Martínez, J.
Author_Institution :
Dept. of Electr. Eng., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
This paper presents a formation control of nonholonomic mobile robots for a leader-follower scheme. The control design is based on a backstepping recursive procedure together with passivity feedback equivalence and sliding mode techniques. In particular, the sliding mode technique allows to get a robust formation control in the sense that it diminishes the effect of model uncertainties. Some simulations are presented to show the performance of the controller.
Keywords :
control system synthesis; feedback; mobile robots; position control; variable structure systems; backstepping recursive procedure; backstepping technique; control design; leader-follower scheme; model uncertainties; nonholonomic mobile robots; passivity feedback equivalence; robot formation control; robust formation control; sliding mode technique; Backstepping; Control design; Feedback; Mobile robots; Orbital robotics; Robot control; Robot kinematics; Robust control; Sliding mode control; Uncertainty; formation control; leader-follower; nonholonomic mobile robots; passivity feedback equivalence; sliding mode;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control,CCE,2009 6th International Conference on
Conference_Location :
Toluca
Print_ISBN :
978-1-4244-4688-9
Electronic_ISBN :
978-1-4244-4689-6
DOI :
10.1109/ICEEE.2009.5393430
