FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE

Razvan Solea, Daniela Cernega, Adrian Filipescu, Adriana Serbencu

2010

Abstract

This paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control laws has been proved by simulation on different situations.

Paper Citation

in Harvard Style

Solea R., Cernega D., Filipescu A. and Serbencu A. (2010). FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 161-166. DOI: 10.5220/0002899501610166

in Bibtex Style

@conference{icinco10,
author={Razvan Solea and Daniela Cernega and Adrian Filipescu and Adriana Serbencu},
title={FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={161-166},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002899501610166},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE
SN - 978-989-8425-01-0
AU - Solea R.
AU - Cernega D.
AU - Filipescu A.
AU - Serbencu A.
PY - 2010
SP - 161
EP - 166
DO - 10.5220/0002899501610166