Adaptive sliding-mode cluster space control of a non-holonomic multi-robot system with applications

摘要

The study proposes a novel adaptive and robust model-based sliding-mode controller for multi-robot system in cluster space. The study considers non-holonomic robots, which are commonly used in several real-life applications. The proposed controller is robust to uncertainties and external disturbances. Simulation and experimental tests show the potential of this approach. The experimental validation was done using Lego EV3 robots connected through Wi-Fi link.