Robust Swarm Formation for Multiple Nonholonomic Two-Wheeled Mobile Robots using Leader–Follower Approach via Sliding Mode Controller and Neural Dynamic Model
Journal of Electrical Engineering & Technology, vol. 18, no. 3, pp. 2245–2252, 2023
(Impact Factor - 1.9).
Description:
This paper is devoted to investigating the swarm formation control problem of multiple nonholonomic wheeled mobile robots. A coordinate control scheme based on the leader–follower approach is developed to achieve swarm formation. It is challenging for followers to follow the leader safely and keeping the desired distance. Therefore, this paper introduces the tracking control method for multiple robots based on the sliding mode controller and neural dynamics model. To do this first, the leader–follower formation strategy is applied to form the desired formation using multiple robots. Secondly, the sliding mode controller is proposed for asymptotically stabilizing the robots to maintain the desired formation. Thirdly, based on the neural dynamic model, the novel sliding mode is designed for resolving the speed jump problems. Furthermore, the Lyapunov method is employed to prove the stability of the closed-loop system. Finally, the simulation results are presented to illustrate the effectiveness of the proposed controller.
