| contributor author | Hernández-Alemán, Rubén | |
| contributor author | Salas-Peña, Oscar | |
| contributor author | De León-Morales, Jesús | |
| date accessioned | 2017-11-25T07:20:44Z | |
| date available | 2017-11-25T07:20:44Z | |
| date copyright | 2017/13/2 | |
| date issued | 2017 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_139_04_044502.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4236621 | |
| description abstract | In this paper, a decentralized formation control based on adaptive super-twisting algorithm (ASTA) is designed for a group of unicycle mobile robots. According to this approach, movements of robots are driven through a sequence of formation patterns. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Furthermore, a high-order differentiator is designed to estimate unmeasurable signals, in order to implement the proposed controller. Finally, simulation results illustrate the effectiveness of the proposed control scheme. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Decentralized Formation Control Based on Adaptive Super Twisting | |
| type | Journal Paper | |
| journal volume | 139 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4035170 | |
| journal fristpage | 44502 | |
| journal lastpage | 044502-6 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2017:;volume( 139 ):;issue: 004 | |
| contenttype | Fulltext | |