DocumentCode
3241888
Title
Integral terminal sliding mode cooperative control of multi-robot networks
Author
Khoo, S. ; Xie, L. ; Man, Z.
Author_Institution
Sch. of Eng., Deakin Univ., Burwood, VIC, Australia
fYear
2009
fDate
14-17 July 2009
Firstpage
969
Lastpage
973
Abstract
This paper studies the integral terminal sliding mode cooperative control of multi-robot networks. Here, we first propose an integral terminal sliding mode surface for a class of first order systems. Then, we prove that finite time consensus tracking of multi-robot networks can be achieved on this integral terminal sliding mode surface. Simulation results are presented to validate the analysis.
Keywords
Lyapunov methods; convergence; directed graphs; multi-robot systems; nonlinear systems; tracking; variable structure systems; cooperative control; finite time consensus tracking; finite-time convergence; integral terminal sliding mode; multi-robot networks; sliding mode control; Communication system control; Control design; Control systems; Convergence; Graph theory; Mobile communication; Multirobot systems; Robot kinematics; Robust control; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-2852-6
Type
conf
DOI
10.1109/AIM.2009.5229712
Filename
5229712
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