TY - GEN
T1 - Leader-Follower Formation with Second-Order Slide Mode Control for Differential-Drive Mobile Robots
AU - Ramirez-Neria, Mario
AU - González-Sierra, Jaime
AU - Martinez-Hernandez, Eduardo G.
AU - Ramirez-Juarez, Rodrigo
AU - Paniagua-Contro, Pablo
N1 - Publisher Copyright:
© 2022, Avestia Publishing. All rights reserved.
PY - 2022
Y1 - 2022
N2 - In this paper, the leader-follower formation control of two differential-drive mobile robots is addressed using the interrobot distance and the heading angle. To avoid singularities in the control law, a point located at a certain distance from the midpoint of the wheel axle, is considered as the output of the system. The proposed control strategy is designed using a second-order sliding mode and, therefore, is robust against bounded disturbances. It is worth noting that the decentralized control strategy only depends on local information about distance and the heading angle measurements. Real-time experiments show the performance of the approach.
AB - In this paper, the leader-follower formation control of two differential-drive mobile robots is addressed using the interrobot distance and the heading angle. To avoid singularities in the control law, a point located at a certain distance from the midpoint of the wheel axle, is considered as the output of the system. The proposed control strategy is designed using a second-order sliding mode and, therefore, is robust against bounded disturbances. It is worth noting that the decentralized control strategy only depends on local information about distance and the heading angle measurements. Real-time experiments show the performance of the approach.
KW - Differential-drive robots
KW - Leader-follower
KW - Sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85145295709&partnerID=8YFLogxK
U2 - 10.11159/cdsr22.129
DO - 10.11159/cdsr22.129
M3 - Contribución a la conferencia
AN - SCOPUS:85145295709
SN - 9781990800023
T3 - International Conference of Control, Dynamic Systems, and Robotics
BT - Proceedings of the 9th International Conference on Control, Dynamic Systems, and Robotics, CDSR 2022
A2 - Carranza, Aparicio
A2 - Shi, Yang
PB - Avestia Publishing
T2 - 9th International Conference on Control, Dynamic Systems, and Robotics, CDSR 2022
Y2 - 2 June 2022 through 4 June 2022
ER -