Decentralized Non-Linear Control of Leader-Follower Formation of Multiple Autonomous Mobile Robots

摘要

Control of the cooperative multi-robot system is one of the most challenging problems. This paper investigates a novel implement of integral time varying sliding mode control (ITVSMC) on the leader-follower formation of nonholonomic mobile robots with bounded control inputs. The objective of the controller is to form up and maintain the follower robots in tracking the leader motion. The controller parameters are automatically computed using mathematical formulas. The annoying chattering problem in the control law is solved using the boundary layer technique. The effectiveness of the suggested strategy is verified by simulating the system using MATLAB/SIMULINK software. Simulation results demonstrate that the designed control strategy success in getting suitable values of controller parameters resulting in perfect performance for different system conditions. Also, it is proved that the time-varying sliding surface technique is more accurate even in the presence of external disturbances than the conventional time-invariable sliding surface. Therefore, ITVSMC technique is a good solution to the problem of leader-followers trajectory tracking in the presence of disturbances.