Integral terminal sliding mode control approach for multi-robot formation

This paper presents a sliding mode control approach for multi-robot formation with collision avoidance. Based on the algebraic graph theory, connections between robots are defined. The formation control with collision avoidance is then solved by a proper design of sliding surface that incorporates potential functions for collision avoidance. The stability of the system is established by using a Lyapunov approach. It is shown that the proposed method makes all robots achieve a specified formation while the collision is avoided. The performance of a system is verified by numerical simulation and experiment result.