智能系统学报2016，Vol.11Issue(5)：641-647,7.DOI:10.11992/tis.201510017
基于模糊滑模的多机器人系统编队控制
Formation control of multi-robot systems in a fuzzy sliding mode
摘要
Abstract
To resolve the formation problem resulting from a swarm of robots, a control scheme is proposed based on sliding mode control and fuzzy logic. A formation dynamic model is established utilizing the leader–follower ap⁃proach. The model is subject to uncertainties. If the upper bounds of these uncertainties are unknown, then a fuzzy compensator can be adopted to approximate the uncertainties. From an Lyapunov approach, not only is the sliding⁃mode⁃based formation control system asymptotically stable, but the approximate error of the fuzzy compensator is al⁃so convergent. The simulation results demonstrate that the robots can rapidly form and maintain the desired specified geometrical shapes during movement.关键词
多机器人/编队控制/不确定性/滑模控制/模糊逻辑Key words
multi-robot/formation control/uncertainties/sliding model control/fuzzy logic分类
信息技术与安全科学引用本文复制引用
钱殿伟..基于模糊滑模的多机器人系统编队控制[J].智能系统学报,2016,11(5):641-647,7.基金项目
国家自然科学基金项目（60904008）． （）
