| contributor author | Liao, Teh-Lu | |
| contributor author | Yan, Jun-Juh | |
| contributor author | Chan, Wei-Shou | |
| date accessioned | 2017-11-25T07:20:46Z | |
| date available | 2017-11-25T07:20:46Z | |
| date copyright | 2017/13/4 | |
| date issued | 2017 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_139_06_061008.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4236647 | |
| description abstract | This paper presents a distributed formation control for multirobot dynamic systems with external disturbances and system uncertainties. First from the Lagrangian analysis, the dynamic model of a wheeled mobile robot can be derived. Then, the robust distributed formation controller is proposed based on sliding-mode control, consensus algorithm, and graph theory. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov stability theorem. From the simulation results, the proposed approach provides better formation responses compared to consensus algorithm. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems | |
| type | Journal Paper | |
| journal volume | 139 | |
| journal issue | 6 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4035614 | |
| journal fristpage | 61008 | |
| journal lastpage | 061008-7 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2017:;volume( 139 ):;issue: 006 | |
| contenttype | Fulltext | |